diff --git a/sinqMotor b/sinqMotor
index 4e30331..2ef20e1 160000
--- a/sinqMotor
+++ b/sinqMotor
@@ -1 +1 @@
-Subproject commit 4e30331c92a1c212e4b5f46996e4b7853c559136
+Subproject commit 2ef20e1bc2138decc1ba314690ec246a628b2bb9
diff --git a/src/masterMacsAxis.cpp b/src/masterMacsAxis.cpp
index 67d7cd0..aed95c5 100644
--- a/src/masterMacsAxis.cpp
+++ b/src/masterMacsAxis.cpp
@@ -635,13 +635,52 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         int homed = 0;
         getAxisParamChecked(this, motorStatusHome, &homing);
         getAxisParamChecked(this, motorStatusHomed, &homed);
-        if (homing || homed) {
+
+        // DEBUG
+        if (axisNo_ == 11) {
+            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                      "Homing: %d, homed: %d, moving: %d\n", homing, homed,
+                      *moving);
+        }
+
+        /*
+        Ignore limit switch errors when homing / motor has been homed or when
+        the motor is moving.
+
+        Background:
+        MasterMACS controllers move the motor outside the allowed range defined
+        by the "software limits" defined within the controllers because they
+        need to hit the physical end switch to determine the motor position. The
+        motor then rests close to the end switch, which might be outside the
+        controller-side software limits. This leads to this error, which is then
+        forwarded to the user even though nothing went wrong. The three checks
+        are here to prevent this:
+        - "homing": Is set at the start of a homing maneuver and removed once
+        the motor does not move anymore => Prevents the error from showing up
+        during the homing procedure
+        - "homed": Is set after a homing maneuver has been finished => Prevents
+        the error from showing up while the motor is resting idle outside the
+        software limits.
+        - "moving": Prevents the error from showing up when moving out of the
+        homing position.
+
+        If the motor hits the limits during normal operation, it is stopped by
+        the controller. Once stopped, moving is false and then the error is
+        shown to the user (because "homed" is not set).
+
+        Note: strictly speaking, it is not necessary to check homing because
+        moving would be set to true anyway. The check is here for clarity /
+        being explicit.
+        */
+        if (!homing && !homed && !(*moving)) {
             /*
             Either the software limits or the end switches of the controller
             have been hit. Since the EPICS limits are derived from the software
             limits and are a little bit smaller, these error cases can only
             happen if either the axis has an incremental encoder which is not
-            properly homed or if a bug occured.
+            properly homed or if the motor moved outside the limits while homing
+            (but in that case, the error is not shown, see previous
+            if-statement).
             */
             if (positiveLimitSwitch() || negativeLimitSwitch() ||
                 positiveSoftwareLimit() || negativeSoftwareLimit()) {