diff --git a/Makefile b/Makefile
index e93cf38..c180db5 100644
--- a/Makefile
+++ b/Makefile
@@ -7,7 +7,7 @@ EPICS_VERSIONS=7.0.7
 ARCH_FILTER=RHEL%
 
 # Specify the version of asynMotor we want to build against
-motorBase_VERSION=7.2.2
+motorBase_VERSION=7.3.2
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/masterMacsAxis.h
diff --git a/src/masterMacsAxis.cpp b/src/masterMacsAxis.cpp
index 67ceedd..a2d9a85 100644
--- a/src/masterMacsAxis.cpp
+++ b/src/masterMacsAxis.cpp
@@ -11,6 +11,11 @@
 #include <string.h>
 #include <unistd.h>
 
+enum moveMode {
+    positionMode,
+    velocityMode,
+};
+
 struct masterMacsAxisImpl {
     /*
     The axis status and axis error of MasterMACS are given as an integer from
@@ -24,6 +29,7 @@ struct masterMacsAxisImpl {
     bool needInit = true;
     bool targetReachedUninitialized;
     bool dynamicLimits;
+    moveMode lastMoveCommand;
 };
 
 /*
@@ -94,6 +100,7 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
           .timeAtHandshake = 0,
           .targetReachedUninitialized = true,
           .dynamicLimits = false,
+          .lastMoveCommand = positionMode,
       })) {
 
     asynStatus status = asynSuccess;
@@ -260,7 +267,7 @@ asynStatus masterMacsAxis::init() {
                                           __PRETTY_FUNCTION__, __LINE__);
     }
 
-    status = setVeloFields(motVelocity, 0.0, motVmax);
+    status = setVeloFields(abs(motVelocity), 0.0, motVmax);
     if (status != asynSuccess) {
         return status;
     }
@@ -386,10 +393,7 @@ asynStatus masterMacsAxis::readLimits() {
     highLimit = highLimit - limitsOffset;
     lowLimit = lowLimit + limitsOffset;
 
-    setAxisParamChecked(this, motorHighLimitFromDriver, highLimit);
-    setAxisParamChecked(this, motorLowLimitFromDriver, lowLimit);
-
-    return status;
+    return setLimits(highLimit, lowLimit);
 }
 
 // Perform the actual poll
@@ -399,10 +403,10 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     asynStatus poll_status = asynSuccess;
 
     // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rw_status = asynSuccess;
+    asynStatus rwStatus = asynSuccess;
 
     // Status of parameter library operations
-    asynStatus pl_status = asynSuccess;
+    asynStatus plStatus = asynSuccess;
 
     char response[pC_->MAXBUF_] = {0};
     int nvals = 0;
@@ -451,8 +455,8 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
 
         pC_->read(axisNo_, 86, response);
-        if (rw_status != asynSuccess) {
-            return rw_status;
+        if (rwStatus != asynSuccess) {
+            return rwStatus;
         }
 
         nvals = sscanf(response, "%lf", &handshakePerformed);
@@ -478,38 +482,20 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
     // Read the previous motor position
-    pl_status = motorPosition(&previousPosition);
-    if (pl_status != asynSuccess) {
-        return pl_status;
+    plStatus = motorPosition(&previousPosition);
+    if (plStatus != asynSuccess) {
+        return plStatus;
     }
 
     // Update the axis status
-    rw_status = readAxisStatus();
-    if (rw_status != asynSuccess) {
-        return rw_status;
+    rwStatus = readAxisStatus();
+    if (rwStatus != asynSuccess) {
+        return rwStatus;
     }
 
-    // If we wait for a handshake, but the motor was moving in its last poll
-    // cycle and has reached its target, it is not moving. Otherwise it is
-    // considered moving, even if we're still waiting for the handshake.
-    if (pMasterMacsA_->targetReachedUninitialized) {
-        *moving = false;
-    } else {
-        if (targetReached() || !switchedOn()) {
-            *moving = false;
-        } else {
-            *moving = true;
-        }
-    }
-
-    if (targetReached()) {
-        pMasterMacsA_->targetReachedUninitialized = false;
-    }
-
-    // Read the current position
-    rw_status = pC_->read(axisNo_, 12, response);
-    if (rw_status != asynSuccess) {
-        return rw_status;
+    rwStatus = pC_->read(axisNo_, 12, response);
+    if (rwStatus != asynSuccess) {
+        return rwStatus;
     }
     nvals = sscanf(response, "%lf", &currentPosition);
     if (nvals != 1) {
@@ -517,12 +503,60 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                                           __PRETTY_FUNCTION__, __LINE__);
     }
 
+    plStatus = setMotorPosition(currentPosition);
+    if (plStatus != asynSuccess) {
+        return plStatus;
+    }
+    setAxisParamChecked(this, motorEncoderPosition, currentPosition);
+
+    if (pMasterMacsA_->lastMoveCommand == velocityMode && !speedEqualZero()) {
+
+        // TODO: Not sure whether the RVEL field of the motor record does not
+        // work - has to be clarified
+        double actualVelocity = 0.0;
+
+        rwStatus = pC_->read(axisNo_, 14, response);
+        if (rwStatus != asynSuccess) {
+            return rwStatus;
+        }
+        nvals = sscanf(response, "%lf", &actualVelocity);
+        if (nvals != 1) {
+            return pC_->couldNotParseResponse("R14", response, axisNo_,
+                                              __PRETTY_FUNCTION__, __LINE__);
+        }
+
+        // Write the actual velocity to the paramLib (TODO: does it though?)
+        setAxisParamChecked(this, motorVelocity, actualVelocity);
+
+        // Motor is moving in velocity mode
+        *moving = true;
+
+    } else {
+
+        // If we wait for a handshake, but the motor was moving in its last poll
+        // cycle and has reached its target, it is not moving. Otherwise it is
+        // considered moving, even if we're still waiting for the handshake.
+        if (pMasterMacsA_->targetReachedUninitialized) {
+            *moving = false;
+        } else {
+            if (targetReached() || !switchedOn()) {
+                *moving = false;
+            } else {
+                *moving = true;
+            }
+        }
+
+        if (targetReached()) {
+            pMasterMacsA_->targetReachedUninitialized = false;
+        }
+    }
+
     /*
-    Read out the error if either a fault condition status flag has been set or
-    if a movement has just ended.
+    Read out the error if either a fault condition status flag has been set
+    or if a movement has just ended.
      */
     if (faultConditionSet() || !(*moving)) {
-        rw_status = readAxisError();
+        rwStatus = readAxisError();
     }
 
     msgPrintControlKey keyError = msgPrintControlKey(
@@ -743,9 +777,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     // Read out the limits, if the motor is not moving and if the limits are
     // dynamic
     if (pMasterMacsA_->dynamicLimits && !(*moving)) {
-        rw_status = readLimits();
-        if (rw_status != asynSuccess) {
-            return rw_status;
+        rwStatus = readLimits();
+        if (rwStatus != asynSuccess) {
+            return rwStatus;
         }
     }
 
@@ -770,16 +804,11 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     setAxisParamChecked(this, motorStatusDone, !(*moving));
     setAxisParamChecked(this, motorStatusDirection, direction);
 
-    pl_status = setMotorPosition(currentPosition);
-    if (pl_status != asynSuccess) {
-        return pl_status;
-    }
     return poll_status;
 }
 
-asynStatus masterMacsAxis::doMoveVelocity(double minVelocity,
-                                          double maxVelocity,
-                                          double acceleration) {
+asynStatus masterMacsAxis::moveVelocity(double minVelocity, double maxVelocity,
+                                        double acceleration) {
     // Suppress unused variable warning
     (void)minVelocity;
     (void)acceleration;
@@ -830,7 +859,14 @@ asynStatus masterMacsAxis::doMoveVelocity(double minVelocity,
 
     // Start the move. We do not use the MovTimeout watchdog here, because the
     // motor can move for any time in velocity mode.
-    return pC_->write(axisNo_, 00, "3", timeout);
+    status = pC_->write(axisNo_, 00, "3", timeout);
+    if (status != asynSuccess) {
+        return status;
+    }
+
+    // Cache the information that the current movement is in velocity mode
+    pMasterMacsA_->lastMoveCommand = velocityMode;
+    return status;
 }
 
 asynStatus masterMacsAxis::doMove(double position, int relative,
@@ -938,6 +974,8 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
         return asynError;
     }
 
+    // Cache the information that the current movement is in position mode
+    pMasterMacsA_->lastMoveCommand = positionMode;
     return status;
 }
 
@@ -1238,8 +1276,8 @@ asynStatus masterMacsAxis::readAxisStatus() {
 
     // =========================================================================
 
-    asynStatus rw_status = pC_->read(axisNo_, 10, response);
-    if (rw_status == asynSuccess) {
+    asynStatus rwStatus = pC_->read(axisNo_, 10, response);
+    if (rwStatus == asynSuccess) {
 
         float axisStatus = 0;
         int nvals = sscanf(response, "%f", &axisStatus);
@@ -1251,7 +1289,7 @@ asynStatus masterMacsAxis::readAxisStatus() {
         pMasterMacsA_->axisStatus = toBitset(axisStatus);
     }
 
-    return rw_status;
+    return rwStatus;
 }
 
 asynStatus masterMacsAxis::readAxisError() {
@@ -1259,8 +1297,8 @@ asynStatus masterMacsAxis::readAxisError() {
 
     // =========================================================================
 
-    asynStatus rw_status = pC_->read(axisNo_, 11, response);
-    if (rw_status == asynSuccess) {
+    asynStatus rwStatus = pC_->read(axisNo_, 11, response);
+    if (rwStatus == asynSuccess) {
 
         float axisError = 0;
         int nvals = sscanf(response, "%f", &axisError);
@@ -1270,7 +1308,7 @@ asynStatus masterMacsAxis::readAxisError() {
         }
         pMasterMacsA_->axisError = toBitset(axisError);
     }
-    return rw_status;
+    return rwStatus;
 }
 
 bool masterMacsAxis::readyToBeSwitchedOn() {
@@ -1297,6 +1335,8 @@ bool masterMacsAxis::remoteMode() { return pMasterMacsA_->axisStatus[9]; }
 
 bool masterMacsAxis::targetReached() { return pMasterMacsA_->axisStatus[10]; }
 
+bool masterMacsAxis::speedEqualZero() { return pMasterMacsA_->axisStatus[12]; }
+
 bool masterMacsAxis::internalLimitActive() {
     return pMasterMacsA_->axisStatus[11];
 }
diff --git a/src/masterMacsAxis.h b/src/masterMacsAxis.h
index 13f1dc5..eff68cf 100644
--- a/src/masterMacsAxis.h
+++ b/src/masterMacsAxis.h
@@ -52,17 +52,15 @@ class HIDDEN masterMacsAxis : public sinqAxis {
     asynStatus doPoll(bool *moving);
 
     /**
-     * @brief Implementation of the `doMoveVelocity` function from sinqAxis. The
-     * parameters are described in the documentation of
-     * `sinqAxis::doMoveVelocity`.
+     * @brief TODO
      *
      * @param minVelocity
      * @param maxVelocity
      * @param acceleration
      * @return asynStatus
      */
-    asynStatus doMoveVelocity(double minVelocity, double maxVelocity,
-                              double acceleration);
+    asynStatus moveVelocity(double minVelocity, double maxVelocity,
+                            double acceleration);
 
     /**
      * @brief Implementation of the `doMove` function from sinqAxis. The
@@ -252,6 +250,12 @@ class HIDDEN masterMacsAxis : public sinqAxis {
      */
     bool internalLimitActive();
 
+    /**
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
+     */
+    bool speedEqualZero();
+
     // Bits 12 and 13 are unused
 
     /**