diff --git a/src/masterMacsAxis.cpp b/src/masterMacsAxis.cpp
index d638779..d54dcfb 100644
--- a/src/masterMacsAxis.cpp
+++ b/src/masterMacsAxis.cpp
@@ -23,6 +23,7 @@ struct masterMacsAxisImpl {
     time_t timeAtHandshake;
     bool needInit = true;
     bool targetReachedUninitialized;
+    bool dynamicLimits;
 };
 
 /*
@@ -92,6 +93,7 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
           .waitForHandshake = false,
           .timeAtHandshake = 0,
           .targetReachedUninitialized = true,
+          .dynamicLimits = false,
       })) {
 
     asynStatus status = asynSuccess;
@@ -179,14 +181,17 @@ Read out the following values:
 asynStatus masterMacsAxis::init() {
 
     // Local variable declaration
-    asynStatus pl_status = asynSuccess;
+    asynStatus status = asynSuccess;
     char response[pC_->MAXBUF_] = {0};
     int nvals = 0;
-    double motorRecResolution = 0.0;
-    double motorPosition = 0.0;
-    double motorVelocity = 0.0;
-    double motorVmax = 0.0;
-    double motorAccel = 0.0;
+    double motRecResolution = 0.0;
+    double motPosition = 0.0;
+    double motPositionDeadband = 0.0;
+    double motVelocity = 0.0;
+    double motVmax = 0.0;
+    double motAccel = 0.0;
+    double motMode = 0;
+    double motCanSetMode = 0;
 
     // =========================================================================
 
@@ -195,9 +200,9 @@ asynStatus masterMacsAxis::init() {
     time_t now = time(NULL);
     time_t maxInitTime = 60;
     while (1) {
-        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
-                                        &motorRecResolution);
-        if (pl_status == asynParamUndefined) {
+        status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
+                                     &motRecResolution);
+        if (status == asynParamUndefined) {
             if (now + maxInitTime < time(NULL)) {
                 asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d  => %s, line "
@@ -206,10 +211,10 @@ asynStatus masterMacsAxis::init() {
                           __LINE__);
                 return asynError;
             }
-        } else if (pl_status == asynSuccess) {
+        } else if (status == asynSuccess) {
             break;
-        } else if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
+        } else if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorRecResolution_",
                                              axisNo_, __PRETTY_FUNCTION__,
                                              __LINE__);
         }
@@ -220,73 +225,130 @@ asynStatus masterMacsAxis::init() {
     setAxisParamChecked(this, motorConnected, false);
 
     // Read out the current position
-    pl_status = pC_->read(axisNo_, 12, response);
-    if (pl_status != asynSuccess) {
-        return pl_status;
+    status = pC_->read(axisNo_, 12, response);
+    if (status != asynSuccess) {
+        return status;
     }
-    nvals = sscanf(response, "%lf", &motorPosition);
+    nvals = sscanf(response, "%lf", &motPosition);
     if (nvals != 1) {
         return pC_->couldNotParseResponse("R12", response, axisNo_,
                                           __PRETTY_FUNCTION__, __LINE__);
     }
+    status = setMotorPosition(motPosition);
+    if (status != asynSuccess) {
+        return status;
+    }
 
     // Read out the current velocity
-    pl_status = pC_->read(axisNo_, 05, response);
-    if (pl_status != asynSuccess) {
-        return pl_status;
+    status = pC_->read(axisNo_, 05, response);
+    if (status != asynSuccess) {
+        return status;
     }
-    nvals = sscanf(response, "%lf", &motorVelocity);
+    nvals = sscanf(response, "%lf", &motVelocity);
     if (nvals != 1) {
         return pC_->couldNotParseResponse("R05", response, axisNo_,
                                           __PRETTY_FUNCTION__, __LINE__);
     }
 
     // Read out the maximum velocity
-    pl_status = pC_->read(axisNo_, 26, response);
-    if (pl_status != asynSuccess) {
-        return pl_status;
+    status = pC_->read(axisNo_, 26, response);
+    if (status != asynSuccess) {
+        return status;
     }
-    nvals = sscanf(response, "%lf", &motorVmax);
+    nvals = sscanf(response, "%lf", &motVmax);
     if (nvals != 1) {
         return pC_->couldNotParseResponse("R26", response, axisNo_,
                                           __PRETTY_FUNCTION__, __LINE__);
     }
 
-    // Read out the acceleration
-    pl_status = pC_->read(axisNo_, 06, response);
-    if (pl_status != asynSuccess) {
-        return pl_status;
+    status = setVeloFields(motVelocity, 0.0, motVmax);
+    if (status != asynSuccess) {
+        return status;
     }
-    nvals = sscanf(response, "%lf", &motorAccel);
+
+    // Read out the acceleration
+    status = pC_->read(axisNo_, 06, response);
+    if (status != asynSuccess) {
+        return status;
+    }
+    nvals = sscanf(response, "%lf", &motAccel);
     if (nvals != 1) {
         return pC_->couldNotParseResponse("R06", response, axisNo_,
                                           __PRETTY_FUNCTION__, __LINE__);
     }
-
-    // Store the motor position in the parameter library
-    pl_status = setMotorPosition(motorPosition);
-    if (pl_status != asynSuccess) {
-        return pl_status;
+    status = setAcclField(motAccel);
+    if (status != asynSuccess) {
+        return status;
     }
 
-    // Write to the motor record fields
-    pl_status = setVeloFields(motorVelocity, 0.0, motorVmax);
-    if (pl_status != asynSuccess) {
-        return pl_status;
+    // Read out the motor position deadband
+    status = pC_->read(axisNo_, 13, response);
+    if (status != asynSuccess) {
+        return status;
     }
-    pl_status = setAcclField(motorAccel);
-    if (pl_status != asynSuccess) {
-        return pl_status;
+    nvals = sscanf(response, "%lf", &motPositionDeadband);
+    if (nvals != 1) {
+        return pC_->couldNotParseResponse("R13", response, axisNo_,
+                                          __PRETTY_FUNCTION__, __LINE__);
+    }
+    setAxisParamChecked(this, motorPositionDeadband, motPositionDeadband);
+
+    // Check if the motor has dynamic limits
+    status = pC_->read(axisNo_, 32, response);
+    if (status != asynSuccess) {
+        return status;
+    }
+    nvals = sscanf(response, "%d", &pMasterMacsA_->dynamicLimits);
+    if (nvals != 1) {
+        return pC_->couldNotParseResponse("R32", response, axisNo_,
+                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
-    pl_status = readEncoderType();
-    if (pl_status != asynSuccess) {
-        return pl_status;
+    // 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;
+    }
+
+    // Read the axis limits
+    status = readLimits();
+    if (status != asynSuccess) {
+        return status;
     }
 
     // Update the parameter library immediately
-    pl_status = callParamCallbacks();
-    if (pl_status != asynSuccess) {
+    status = callParamCallbacks();
+    if (status != asynSuccess) {
         // If we can't communicate with the parameter library, it doesn't
         // make sense to try and upstream this to the user -> Just log the
         // error
@@ -294,14 +356,71 @@ asynStatus masterMacsAxis::init() {
                   "Controller \"%s\", axis %d => %s, line "
                   "%d:\ncallParamCallbacks failed with %s.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                  pC_->stringifyAsynStatus(pl_status));
-        return pl_status;
+                  pC_->stringifyAsynStatus(status));
+        return status;
     }
 
     // Axis is fully initialized
     setNeedInit(false);
 
-    return pl_status;
+    return status;
+}
+
+asynStatus masterMacsAxis::readLimits() {
+
+    asynStatus status = asynSuccess;
+
+    char response[pC_->MAXBUF_] = {0};
+    int nvals = 0;
+
+    double highLimit = 0.0;
+    double lowLimit = 0.0;
+    double limitsOffset = 0.0;
+
+    // =========================================================================
+
+    status = pC_->read(axisNo_, 34, response);
+    if (status != asynSuccess) {
+        return status;
+    }
+    nvals = sscanf(response, "%lf", &lowLimit);
+    if (nvals != 1) {
+        return pC_->couldNotParseResponse("R34", response, axisNo_,
+                                          __PRETTY_FUNCTION__, __LINE__);
+    }
+
+    status = pC_->read(axisNo_, 33, response);
+    if (status != asynSuccess) {
+        return status;
+    }
+    nvals = sscanf(response, "%lf", &highLimit);
+    if (nvals != 1) {
+        return pC_->couldNotParseResponse("R33", response, axisNo_,
+                                          __PRETTY_FUNCTION__, __LINE__);
+    }
+
+    /*
+    The axis limits are set as: ({[]})
+    where [] are the positive and negative limits set in EPICS/NICOS, {} are
+    the software limits set on the MCU and () are the hardware limit
+    switches. In other words, the EPICS/NICOS limits must be stricter than
+    the software limits on the MCU which in turn should be stricter than the
+    hardware limit switches. For example, if the hardware limit switches are
+    at [-10, 10], the software limits could be at [-9, 9] and the EPICS /
+    NICOS limits could be at
+    [-8, 8]. Therefore, we cannot use the software limits read from the MCU
+    directly, but need to shrink them a bit. In this case, we're shrinking
+    them by 0.1 mm or 0.1 degree (depending on the axis type) on both sides.
+    */
+    getAxisParamChecked(this, motorLimitsOffset, &limitsOffset);
+
+    highLimit = highLimit - limitsOffset;
+    lowLimit = lowLimit + limitsOffset;
+
+    setAxisParamChecked(this, motorHighLimitFromDriver, highLimit);
+    setAxisParamChecked(this, motorLowLimitFromDriver, lowLimit);
+
+    return status;
 }
 
 // Perform the actual poll
@@ -324,9 +443,6 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     double currentPosition = 0.0;
     double previousPosition = 0.0;
     double motorRecResolution = 0.0;
-    double highLimit = 0.0;
-    double lowLimit = 0.0;
-    double limitsOffset = 0.0;
     double handshakePerformed = 0;
 
     // =========================================================================
@@ -614,48 +730,13 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         pC_->getMsgPrintControl().resetCount(keyError, pC_->pasynUser());
     }
 
-    // Read out the limits, if the motor is not moving
-    if (!(*moving)) {
-        rw_status = pC_->read(axisNo_, 34, response);
+    // 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;
         }
-        nvals = sscanf(response, "%lf", &lowLimit);
-        if (nvals != 1) {
-            return pC_->couldNotParseResponse("R34", response, axisNo_,
-                                              __PRETTY_FUNCTION__, __LINE__);
-        }
-
-        rw_status = pC_->read(axisNo_, 33, response);
-        if (rw_status != asynSuccess) {
-            return rw_status;
-        }
-        nvals = sscanf(response, "%lf", &highLimit);
-        if (nvals != 1) {
-            return pC_->couldNotParseResponse("R33", response, axisNo_,
-                                              __PRETTY_FUNCTION__, __LINE__);
-        }
-
-        /*
-        The axis limits are set as: ({[]})
-        where [] are the positive and negative limits set in EPICS/NICOS, {} are
-        the software limits set on the MCU and () are the hardware limit
-        switches. In other words, the EPICS/NICOS limits must be stricter than
-        the software limits on the MCU which in turn should be stricter than the
-        hardware limit switches. For example, if the hardware limit switches are
-        at [-10, 10], the software limits could be at [-9, 9] and the EPICS /
-        NICOS limits could be at
-        [-8, 8]. Therefore, we cannot use the software limits read from the MCU
-        directly, but need to shrink them a bit. In this case, we're shrinking
-        them by 0.1 mm or 0.1 degree (depending on the axis type) on both sides.
-        */
-        getAxisParamChecked(this, motorLimitsOffset, &limitsOffset);
-
-        highLimit = highLimit - limitsOffset;
-        lowLimit = lowLimit + limitsOffset;
-
-        setAxisParamChecked(this, motorHighLimitFromDriver, highLimit);
-        setAxisParamChecked(this, motorLowLimitFromDriver, lowLimit);
     }
 
     // Update the enable PV
@@ -686,6 +767,62 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     return poll_status;
 }
 
+asynStatus masterMacsAxis::doMoveVelocity(double minVelocity,
+                                          double maxVelocity,
+                                          double acceleration) {
+    // Suppress unused variable warning
+    (void)minVelocity;
+    (void)acceleration;
+
+    // Status of read-write-operations of ASCII commands to the controller
+    asynStatus status = asynSuccess;
+
+    char command[pC_->MAXBUF_];
+
+    double motorRecResolution = 0.0;
+    double motorVelocity = 0.0;
+    int enabled = 0;
+
+    // =========================================================================
+
+    getAxisParamChecked(this, motorEnableRBV, &enabled);
+    getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
+
+    if (enabled == 0) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nAxis is "
+                  "disabled.\n",
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+        return asynSuccess;
+    }
+
+    // Convert from EPICS to user / motor units
+    motorVelocity = maxVelocity * motorRecResolution;
+
+    snprintf(command, sizeof(command), "%lf", motorVelocity);
+    status = pC_->write(axisNo_, 05, command);
+    if (status != asynSuccess) {
+        setAxisParamChecked(this, motorStatusProblem, true);
+        return status;
+    }
+
+    asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
+              "Controller \"%s\", axis %d => %s, line %d:\nSetting speed "
+              "to %lf.\n",
+              pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+              motorVelocity);
+
+    double timeout = pC_->comTimeout();
+    if (pMasterMacsA_->targetReachedUninitialized &&
+        timeout < PowerCycleTimeout) {
+        timeout = PowerCycleTimeout;
+    }
+
+    // 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);
+}
+
 asynStatus masterMacsAxis::doMove(double position, int relative,
                                   double minVelocity, double maxVelocity,
                                   double acceleration) {
@@ -697,7 +834,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
     // Status of read-write-operations of ASCII commands to the controller
     asynStatus status = asynSuccess;
 
-    char value[pC_->MAXBUF_];
+    char command[pC_->MAXBUF_];
     double motorCoordinatesPosition = 0.0;
     double motorRecResolution = 0.0;
     double motorVelocity = 0.0;
@@ -740,8 +877,8 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
     // motor speed changed since the last move command.
     if (motorCanSetSpeed != 0) {
 
-        snprintf(value, sizeof(value), "%lf", motorVelocity);
-        status = pC_->write(axisNo_, 05, value);
+        snprintf(command, sizeof(command), "%lf", motorVelocity);
+        status = pC_->write(axisNo_, 05, command);
         if (status != asynSuccess) {
             setAxisParamChecked(this, motorStatusProblem, true);
             return status;
@@ -755,14 +892,14 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
     }
 
     // Set the target position
-    snprintf(value, sizeof(value), "%lf", motorCoordinatesPosition);
-    status = pC_->write(axisNo_, 02, value);
+    snprintf(command, sizeof(command), "%lf", motorCoordinatesPosition);
+    status = pC_->write(axisNo_, 02, command);
     if (status != asynSuccess) {
         setAxisParamChecked(this, motorStatusProblem, true);
         return status;
     }
 
-    // If the motor has just been enabled, use Enable
+    // If the motor has just been enabled, use a longer timeout for starting
     double timeout = pC_->comTimeout();
     if (pMasterMacsA_->targetReachedUninitialized &&
         timeout < PowerCycleTimeout) {
diff --git a/src/masterMacsAxis.h b/src/masterMacsAxis.h
index 66a515b..695a8f3 100644
--- a/src/masterMacsAxis.h
+++ b/src/masterMacsAxis.h
@@ -51,6 +51,19 @@ 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`.
+     *
+     * @param minVelocity
+     * @param maxVelocity
+     * @param acceleration
+     * @return asynStatus
+     */
+    asynStatus doMoveVelocity(double minVelocity, double maxVelocity,
+                              double acceleration);
+
     /**
      * @brief Implementation of the `doMove` function from sinqAxis. The
      * parameters are described in the documentation of `sinqAxis::doMove`.
@@ -154,6 +167,12 @@ class HIDDEN masterMacsAxis : public sinqAxis {
      */
     asynStatus readAxisStatus();
 
+    /**
+     * @brief Read the upper and lower limits and store them in the parameter
+     * library.
+     */
+    asynStatus readLimits();
+
     /*
     The functions below read the specified status bit from the axisStatus (see
     masterMacsAxisImpl redefinition in masterMacsAxis.cpp) bitset. Since a bit
diff --git a/src/masterMacsController.cpp b/src/masterMacsController.cpp
index da41c00..d9cc639 100644
--- a/src/masterMacsController.cpp
+++ b/src/masterMacsController.cpp
@@ -570,7 +570,45 @@ asynStatus masterMacsController::readInt32(asynUser *pasynUser,
         *value = 1;
         return asynSuccess;
     } else {
-        return asynMotorController::readInt32(pasynUser, value);
+        return sinqController::readInt32(pasynUser, value);
+    }
+}
+
+asynStatus masterMacsController::writeInt32(asynUser *pasynUser,
+                                            epicsInt32 value) {
+    // masterMacs can be disabled
+    if (pasynUser->reason == motorSetMode()) {
+
+        // First call to the sinqController function. It checks whether it is
+        // possible to set the mode and whether the given value is valid.
+        asynStatus status = sinqController::writeInt32(pasynUser, value);
+        if (status == asynSuccess) {
+
+            // Now write to the hardware
+            char command[MAXBUF_];
+            int axisNo;
+            getAddress(pasynUser, &axisNo);
+
+            // Map the EPICS value to MasterMACS values (see
+            // MasterMACS_manual.pdf).
+            int adjustedValue = 0;
+            if (value == 0) {
+                adjustedValue = 1;
+            } else if (value == 1) {
+                adjustedValue = 3;
+            } else {
+                // This branch is unreachable, as it is is already checked
+                // within sinqController::writeInt32 that value is either 0
+                // or 1.
+                return asynError;
+            }
+
+            snprintf(command, sizeof(value), "%d", adjustedValue);
+            return write(axisNo, 07, command);
+        }
+        return status;
+    } else {
+        return sinqController::writeInt32(pasynUser, value);
     }
 }
 
diff --git a/src/masterMacsController.h b/src/masterMacsController.h
index 672038a..271e668 100644
--- a/src/masterMacsController.h
+++ b/src/masterMacsController.h
@@ -54,6 +54,15 @@ class HIDDEN masterMacsController : public sinqController {
      */
     asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
 
+    /**
+     * @brief Overloaded version of the sinqController version
+     *
+     * @param pasynUser
+     * @param value
+     * @return asynStatus
+     */
+    asynStatus writeInt32(asynUser *pasynUser, epicsInt32 *value);
+
     /**
      * @brief Get the axis object
      *