From 488d9c1279ae308c52770144b2f24fbc99314c41 Mon Sep 17 00:00:00 2001
From: smathis <stefan.mathis@psi.ch>
Date: Wed, 11 Feb 2026 11:05:48 +0100
Subject: [PATCH] Updated sinqMotor to new 1.6.0

---
 src/masterMacsAxis.cpp | 33 ---------------------------------
 1 file changed, 33 deletions(-)

diff --git a/src/masterMacsAxis.cpp b/src/masterMacsAxis.cpp
index cc14997..67ceedd 100644
--- a/src/masterMacsAxis.cpp
+++ b/src/masterMacsAxis.cpp
@@ -190,9 +190,7 @@ asynStatus masterMacsAxis::init() {
     double motVelocity = 0.0;
     double motVmax = 0.0;
     double motAccel = 0.0;
-    int motMode = 0;
     int dynamicLimits = 0;
-    int motCanSetMode = 0;
 
     // =========================================================================
 
@@ -306,37 +304,6 @@ asynStatus masterMacsAxis::init() {
     }
     pMasterMacsA_->dynamicLimits = bool(dynamicLimits);
 
-    // Check the current motor mode
-    status = pC_->read(axisNo_, 07, response);
-    if (status != asynSuccess) {
-        return status;
-    }
-    nvals = sscanf(response, "%d", &motMode);
-    if (nvals != 1) {
-        return pC_->couldNotParseResponse("R07", response, axisNo_,
-                                          __PRETTY_FUNCTION__, __LINE__);
-    }
-
-    // If the readback value from the controller is 3, it is in velocity mode,
-    // which sinqMotor encodes as a 1. Otherwise, it is in position mode.
-    setAxisParamChecked(this, motorMode, motMode == 3);
-
-    // Check if the motor can switch its mode
-    status = pC_->read(axisNo_, 31, response);
-    if (status != asynSuccess) {
-        return status;
-    }
-    nvals = sscanf(response, "%d", &motCanSetMode);
-    if (nvals != 1) {
-        return pC_->couldNotParseResponse("R31", response, axisNo_,
-                                          __PRETTY_FUNCTION__, __LINE__);
-    }
-
-    // If the readback value from the controller is 3, the motor supports both
-    // velocity and position mode, otherwise just one of them (the one read out
-    // with motMode).
-    setAxisParamChecked(this, motorCanSetMode, motCanSetMode == 3);
-
     status = readEncoderType();
     if (status != asynSuccess) {
         return status;