From b81e7926d1cb9c2165bac58b57228c4b518e43db Mon Sep 17 00:00:00 2001
From: smathis <stefan.mathis@psi.ch>
Date: Thu, 12 Feb 2026 11:35:21 +0100
Subject: [PATCH] Fixed limitswitch errors during homing

---
 sinqMotor              |  2 +-
 src/masterMacsAxis.cpp | 24 ------------------------
 2 files changed, 1 insertion(+), 25 deletions(-)

diff --git a/sinqMotor b/sinqMotor
index e234d05..95bc899 160000
--- a/sinqMotor
+++ b/sinqMotor
@@ -1 +1 @@
-Subproject commit e234d05815c9a8e0e1165d7b6fad87be7b17e46d
+Subproject commit 95bc899114f90fa0b5925054d1eb374db9678bd7
diff --git a/src/masterMacsAxis.cpp b/src/masterMacsAxis.cpp
index 8220181..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;
 
     // =========================================================================
 
@@ -306,28 +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__);
-    }
-
-    // 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__);
-    }
-
     status = readEncoderType();
     if (status != asynSuccess) {
         return status;