diff --git a/sinqMotor b/sinqMotor
index 87980e4..c2eca33 160000
--- a/sinqMotor
+++ b/sinqMotor
@@ -1 +1 @@
-Subproject commit 87980e403cc59bd0287f97b7eef0c970213913a2
+Subproject commit c2eca33ce864a3940a2c9624b71889e8706e24ee
diff --git a/src/masterMacsAxis.cpp b/src/masterMacsAxis.cpp
index f79f8ed..01d0a4a 100644
--- a/src/masterMacsAxis.cpp
+++ b/src/masterMacsAxis.cpp
@@ -119,7 +119,7 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
     // Collect all axes into this list which will be used in the hook function
     axes.push_back(this);
 
-    pMasterMacsA_ = std::make_unique<masterMaxsAxisImpl>((masterMacsAxisImpl){
+    pMasterMacsA_ = std::make_unique<masterMacsAxisImpl>((masterMacsAxisImpl){
         .axisStatus = std::bitset<16>(0),
         .axisError = std::bitset<16>(0),
         .lastSetSpeed = 0.0,
@@ -845,7 +845,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
     // motor speed changed since the last move command.
     if (motorCanSetSpeed != 0 && pMasterMacsA_->lastSetSpeed != motorVelocity) {
 
-        lastSetSpeed_ = motorVelocity;
+        pMasterMacsA_->lastSetSpeed = motorVelocity;
 
         snprintf(value, sizeof(value), "%lf", motorVelocity);
         rw_status = pC_->write(axisNo_, 05, value);
@@ -1195,6 +1195,17 @@ asynStatus masterMacsAxis::enable(bool on) {
     return asynError;
 }
 
+bool masterMacsAxis::needInit() { return pMasterMacsA_->needInit; }
+
+/**
+ * @brief Instruct the axis to run its init() function during the next poll
+ *
+ * @param needInit
+ */
+void masterMacsAxis::setNeedInit(bool needInit) {
+    pMasterMacsA_->needInit = needInit;
+}
+
 /**
 Convert a float to an unint16_t bitset
 */
@@ -1249,169 +1260,77 @@ asynStatus masterMacsAxis::readAxisError() {
     return rw_status;
 }
 
-asynStatus readConfig();
+bool masterMacsAxis::readyToBeSwitchedOn() {
+    return pMasterMacsA_->axisStatus[0];
+}
 
-/**
- * @brief Read the Master MACS status with the xR10 command and store the
- * result in pMasterMacsA_->axisStatus
- *
- */
-asynStatus readAxisStatus();
+bool masterMacsAxis::switchedOn() { return pMasterMacsA_->axisStatus[1]; }
 
-/*
-The functions below read the specified status bit from the
-pMasterMacsA_->axisStatus bitset. Since a bit can either be 0 or 1, the return
-value is given as a boolean.
-*/
+bool masterMacsAxis::faultConditionSet() {
+    return pMasterMacsA_->axisStatus[3];
+}
 
-/**
- * @brief Read the property from pMasterMacsA_->axisStatus
- */
-bool readyToBeSwitchedOn() { return pMasterMacsA_->axisStatus[0]; }
+bool masterMacsAxis::voltagePresent() { return pMasterMacsA_->axisStatus[4]; }
 
-/**
- * @brief Read the property from pMasterMacsA_->axisStatus
- */
-bool switchedOn() { return pMasterMacsA_->axisStatus[1]; }
+bool masterMacsAxis::quickStopping() {
+    return pMasterMacsA_->axisStatus[5] == 0;
+}
 
-// Bit 2 is unused
+bool masterMacsAxis::switchOnDisabled() { return pMasterMacsA_->axisStatus[6]; }
 
-/**
- * @brief Read the property from pMasterMacsA_->axisStatus
- */
-bool faultConditionSet() { return pMasterMacsA_->axisStatus[3]; }
+bool masterMacsAxis::warning() { return pMasterMacsA_->axisStatus[7]; }
 
-/**
- * @brief Read the property from pMasterMacsA_->axisStatus
- */
-bool voltagePresent() { return pMasterMacsA_->axisStatus[4]; }
+bool masterMacsAxis::remoteMode() { return pMasterMacsA_->axisStatus[9]; }
 
-/**
- * @brief Read the property from pMasterMacsA_->axisStatus
- */
-bool quickStopping() { return pMasterMacsA_->axisStatus[5] == 0; }
+bool masterMacsAxis::targetReached() { return pMasterMacsA_->axisStatus[10]; }
 
-/**
- * @brief Read the property from pMasterMacsA_->axisStatus
- */
-bool switchOnDisabled() { return pMasterMacsA_->axisStatus[6]; }
+bool masterMacsAxis::internalLimitActive() {
+    return pMasterMacsA_->axisStatus[11];
+}
 
-/**
- * @brief Read the property from pMasterMacsA_->axisStatus
- */
-bool warning() { return pMasterMacsA_->axisStatus[7]; }
+bool masterMacsAxis::setEventHasOcurred() {
+    return pMasterMacsA_->axisStatus[14];
+}
 
-// Bit 8 is unused
+bool masterMacsAxis::powerEnabled() { return pMasterMacsA_->axisStatus[15]; }
 
-/**
- * @brief Read the property from pMasterMacsA_->axisStatus
- */
-bool remoteMode() { return pMasterMacsA_->axisStatus[9]; }
+bool masterMacsAxis::shortCircuit() { return pMasterMacsA_->axisError[1]; }
 
-/**
- * @brief Read the property from pMasterMacsA_->axisStatus
- */
-bool targetReached() { return pMasterMacsA_->axisStatus[10]; }
+bool masterMacsAxis::encoderError() { return pMasterMacsA_->axisError[2]; }
 
-/**
- * @brief Read the property from pMasterMacsA_->axisStatus
- */
-bool internalLimitActive() { return pMasterMacsA_->axisStatus[11]; }
+bool masterMacsAxis::followingError() { return pMasterMacsA_->axisError[3]; }
 
-// Bits 12 and 13 are unused
+bool masterMacsAxis::communicationError() {
+    return pMasterMacsA_->axisError[4];
+}
 
-/**
- * @brief Read the property from pMasterMacsA_->axisStatus
- */
-bool setEventHasOcurred() { return pMasterMacsA_->axisStatus[14]; }
+bool masterMacsAxis::feedbackError() { return pMasterMacsA_->axisError[5]; }
 
-/**
- * @brief Read the property from pMasterMacsA_->axisStatus
- */
-bool powerEnabled() { return pMasterMacsA_->axisStatus[15]; }
+bool masterMacsAxis::positiveLimitSwitch() {
+    return pMasterMacsA_->axisError[6];
+}
 
-/**
- * @brief Read the Master MACS status with the xR10 command and store the
- * result in pMasterMacsA_->axisStatus
- *
- */
-asynStatus readAxisError();
+bool masterMacsAxis::negativeLimitSwitch() {
+    return pMasterMacsA_->axisError[7];
+}
 
-/*
-The functions below read the specified error bit from the
-pMasterMacsA_->axisError bitset. Since a bit can either be 0 or 1, the return
-value is given as a boolean.
-*/
+bool masterMacsAxis::positiveSoftwareLimit() {
+    return pMasterMacsA_->axisError[8];
+}
 
-/**
- * @brief Read the property from pMasterMacsA_->axisError
- */
-bool shortCircuit() { return pMasterMacsA_->axisError[1]; }
+bool masterMacsAxis::negativeSoftwareLimit() {
+    return pMasterMacsA_->axisError[9];
+}
 
-/**
- * @brief Read the property from pMasterMacsA_->axisError
- */
-bool encoderError() { return pMasterMacsA_->axisError[2]; }
+bool masterMacsAxis::overCurrent() { return pMasterMacsA_->axisError[10]; }
 
-/**
- * @brief Read the property from pMasterMacsA_->axisError
- */
-bool followingError() { return pMasterMacsA_->axisError[3]; }
+bool masterMacsAxis::overTemperature() { return pMasterMacsA_->axisError[11]; }
 
-/**
- * @brief Read the property from pMasterMacsA_->axisError
- */
-bool communicationError() { return pMasterMacsA_->axisError[4]; }
+bool masterMacsAxis::overVoltage() { return pMasterMacsA_->axisError[12]; }
 
-/**
- * @brief Read the property from pMasterMacsA_->axisError
- */
-bool feedbackError() { return pMasterMacsA_->axisError[5]; }
+bool masterMacsAxis::underVoltage() { return pMasterMacsA_->axisError[13]; }
 
-/**
- * @brief Read the property from pMasterMacsA_->axisError
- */
-bool positiveLimitSwitch() { return pMasterMacsA_->axisError[6]; }
-
-/**
- * @brief Read the property from pMasterMacsA_->axisError
- */
-bool negativeLimitSwitch() { return pMasterMacsA_->axisError[7]; }
-
-/**
- * @brief Read the property from pMasterMacsA_->axisError
- */
-bool positiveSoftwareLimit() { return pMasterMacsA_->axisError[8]; }
-
-/**
- * @brief Read the property from pMasterMacsA_->axisError
- */
-bool negativeSoftwareLimit() { return pMasterMacsA_->axisError[9]; }
-
-/**
- * @brief Read the property from pMasterMacsA_->axisError
- */
-bool overCurrent() { return pMasterMacsA_->axisError[10]; }
-
-/**
- * @brief Read the property from pMasterMacsA_->axisError
- */
-bool overTemperature() { return pMasterMacsA_->axisError[11]; }
-
-/**
- * @brief Read the property from pMasterMacsA_->axisError
- */
-bool overVoltage() { return pMasterMacsA_->axisError[12]; }
-
-/**
- * @brief Read the property from pMasterMacsA_->axisError
- */
-bool underVoltage() { return pMasterMacsA_->axisError[13]; }
-
-/**
- * @brief Read the property from pMasterMacsA_->axisError
- */
-bool stoFault() { return pMasterMacsA_->axisError[15]; }
+bool masterMacsAxis::stoFault() { return pMasterMacsA_->axisError[15]; }
 
 /***************************************************************************/
 /** The following functions are C-wrappers, and can be called directly from
diff --git a/src/masterMacsAxis.h b/src/masterMacsAxis.h
index 5cd0e2c..8a62607 100644
--- a/src/masterMacsAxis.h
+++ b/src/masterMacsAxis.h
@@ -8,7 +8,7 @@
 // https://en.cppreference.com/w/cpp/language/class.
 class masterMacsController;
 
-struct masterMaxsAxisImpl;
+struct masterMacsAxisImpl;
 
 class masterMacsAxis : public sinqAxis {
   public:
@@ -288,7 +288,7 @@ class masterMacsAxis : public sinqAxis {
 
   private:
     masterMacsController *pC_;
-    std::unique_ptr<masterMaxsAxisImpl> pMasterMacsA_;
+    std::unique_ptr<masterMacsAxisImpl> pMasterMacsA_;
 };
 
 #endif
diff --git a/src/masterMacsController.cpp b/src/masterMacsController.cpp
index fdf8905..974dc92 100644
--- a/src/masterMacsController.cpp
+++ b/src/masterMacsController.cpp
@@ -16,11 +16,6 @@ struct masterMacsControllerImpl {
     double comTimeout;
 };
 
-/*
-Stores the constructor input comTimeout
-*/
-double;
-
 /**
  * @brief Copy src into dst and replace all NULL terminators up to the carriage
  * return with spaces. This allows to print *dst with asynPrint.