diff --git a/motorApp/MotorSrc/asynMotorAxis.h b/motorApp/MotorSrc/asynMotorAxis.h
index 52d94a6a..ccef6c53 100644
--- a/motorApp/MotorSrc/asynMotorAxis.h
+++ b/motorApp/MotorSrc/asynMotorAxis.h
@@ -18,7 +18,8 @@
 
 /** Class from which motor axis objects are derived. */
 class epicsShareFunc asynMotorAxis {
-public:
+
+  public:
   /* This is the constructor for the class. */
   asynMotorAxis(class asynMotorController *pController, int axisNumber);
 
@@ -26,44 +27,12 @@ public:
   virtual asynStatus setDoubleParam(int index, double value);
   virtual asynStatus callParamCallbacks();
 
-  // These are pure virtual functions which derived classes must implement
-  /** Move the motor to an absolute location or by a relative amount.
-    * \param[in] position  The absolute position to move to (if relative=0) or the relative distance to move 
-    * by (if relative=1). Units=steps.
-    * \param[in] relative  Flag indicating relative move (1) or absolute move (0).
-    * \param[in] minVelocity The initial velocity, often called the base velocity. Units=steps/sec.
-    * \param[in] maxVelocity The maximum velocity, often called the slew velocity. Units=steps/sec.
-    * \param[in] acceleration The acceleration value. Units=steps/sec/sec. */
-  virtual asynStatus move(double position, int relative, double minVelocity, double maxVelocity, double acceleration) = 0;
-
-  /** Move the motor at a fixed velocity until told to stop.
-    * \param[in] minVelocity The initial velocity, often called the base velocity. Units=steps/sec.
-    * \param[in] maxVelocity The maximum velocity, often called the slew velocity. Units=steps/sec.
-    * \param[in] acceleration The acceleration value. Units=steps/sec/sec. */
-  virtual asynStatus moveVelocity(double minVelocity, double maxVelocity, double acceleration) = 0;
-
-  /** Move the motor to the home position.
-    * \param[in] minVelocity The initial velocity, often called the base velocity. Units=steps/sec.
-    * \param[in] maxVelocity The maximum velocity, often called the slew velocity. Units=steps/sec.
-    * \param[in] acceleration The acceleration value. Units=steps/sec/sec.
-    * \param[in] forwards  Flag indicating to move the motor in the forward direction(1) or reverse direction(0).
-    *                      Some controllers need to be told the direction, others know which way to go to home. */
-  virtual asynStatus home(double minVelocity, double maxVelocity, double acceleration, int forwards) = 0;
-
-  /** Stop the motor.
-    * \param[in] acceleration The acceleration value. Units=steps/sec/sec. */
-  virtual asynStatus stop(double acceleration) = 0;
-
-  /** Poll the axis.
-    * This function should read the controller position, encoder position, and as many of the motorStatus flags
-    * as the hardware supports.  It should call setIntegerParam() and setDoubleParam() for each item that it polls,
-    * and then call callParamCallbacks() at the end.
-    * \param[out] moving A flag that the function must set indicating that the axis is moving (1) or done (0). */
-  virtual asynStatus poll(int *moving) = 0;
-
-  /** Set the current position of the motor.
-    * \param[in] position The new absolute motor position that should be set in the hardware. Units=steps.*/
-  virtual asynStatus setPosition(double position) = 0;
+  virtual asynStatus move(double position, int relative, double minVelocity, double maxVelocity, double acceleration);
+  virtual asynStatus moveVelocity(double minVelocity, double maxVelocity, double acceleration);
+  virtual asynStatus home(double minVelocity, double maxVelocity, double acceleration, int forwards);
+  virtual asynStatus stop(double acceleration);
+  virtual asynStatus poll(int *moving);
+  virtual asynStatus setPosition(double position);
 
   virtual asynStatus initializeProfile(int maxPoints);
   virtual asynStatus defineProfile(double *positions, int numPoints);
@@ -71,20 +40,20 @@ public:
   virtual asynStatus executeProfile();
   virtual asynStatus readbackProfile();
 
-protected:
+  protected:
   class asynMotorController *pC_;    /**< Pointer to the asynMotorController to which this axis belongs.
                                       *   Abbreviated because it is used very frequently */
   int axisNo_;                       /**< Index number of this axis (0 - pC_->numAxes_-1) */
   asynUser *pasynUser_;              /**< asynUser connected to this axis for asynTrace debugging */
   double *profilePositions_;         /**< Array of target positions for profile moves */
-  double *profilePositionsRBV_;      /**< Array of readback positions for profile moves */
+  double *profileReadbacks_;         /**< Array of readback positions for profile moves */
   double *profileFollowingErrors_;   /**< Array of following errors for profile moves */   
 
-private:
+  private:
   MotorStatus status_;
   int statusChanged_;
   
-friend class asynMotorController;
+  friend class asynMotorController;
 };
 
 #endif /* _cplusplus */