diff --git a/common.py b/common.py
index 70590f6..ea30e6a 100644
--- a/common.py
+++ b/common.py
@@ -50,10 +50,13 @@ class Motor:
         'alarm_severity': 'SEVR',
     }
 
-    def __init__(self, ip, port, pv):
-        self.ip = ip
-        self.port = port
-        self.pv = pv
+    def __init__(self, controller, name):
+        config = read_config()
+        self.ip = config['controllers'][controller]['ip']
+        self.port = config['controllers'][controller]['port']
+        self.busypoll = config['controllers'][controller]['busypoll']
+        self.idlepoll = config['controllers'][controller]['idlepoll']
+        self.pv = f'{config['pvprefix']}:{controller}:{name}'
 
     def write(self, suffix, value):
         write(self.pv + suffix, value)
diff --git a/config.yaml b/config.yaml
index 4c78e68..ffa4ecd 100644
--- a/config.yaml
+++ b/config.yaml
@@ -6,6 +6,10 @@ controllers:
   turboPmac1:
     ip: "172.28.101.24"
     port: 1025
+    busypoll: 0.05
+    idlepoll: 1
   masterMacs1:
     ip: "172.28.101.66"
-    port: 1912
\ No newline at end of file
+    port: 1912
+    busypoll: 0.05
+    idlepoll: 1
\ No newline at end of file
diff --git a/ioc/motors/masterMacs1.cmd b/ioc/motors/masterMacs1.cmd
index ff624e8..ad8b208 100755
--- a/ioc/motors/masterMacs1.cmd
+++ b/ioc/motors/masterMacs1.cmd
@@ -4,7 +4,7 @@ epicsEnvSet("NAME","masterMacs1")
 epicsEnvSet("ASYN_PORT","p$(NAME)")
 
 drvAsynIPPortConfigure("$(ASYN_PORT)","$(MASTERMACS1_IP):$(MASTERMACS1_PORT)")
-masterMacsController("$(NAME)","$(ASYN_PORT)",8,0.05,0.05,0.3);
+masterMacsController("$(NAME)","$(ASYN_PORT)",8,$(MASTERMACS1_BUSYPOLL),$(MASTERMACS1_IDLEPOLL),0.3);
 masterMacsAxis("$(NAME)",1);
 # masterMacsAxis("$(NAME)",2);
 
diff --git a/ioc/motors/turboPmac1.cmd b/ioc/motors/turboPmac1.cmd
index dd7f99b..6a2f271 100755
--- a/ioc/motors/turboPmac1.cmd
+++ b/ioc/motors/turboPmac1.cmd
@@ -5,7 +5,7 @@
 # turboPmacController: 
 # Creates the controller object and specifies busy poll period, idle poll period and communication timeout.
 # A typical call looks like this:
-# turboPmacController("$(NAME)","$(ASYN_PORT)",8,0.01,0.01,0.05);
+# turboPmacController("$(NAME)","$(ASYN_PORT)",8,0.05,1,0.05);
 # with
 # 8 = Total number of axes 
 # 0.05 = Busy poll period in seconds
@@ -28,7 +28,7 @@ epicsEnvSet("ASYN_PORT","p$(NAME)")
 
 pmacAsynIPPortConfigure("$(ASYN_PORT)","$(TURBOPMAC1_IP):$(TURBOPMAC1_PORT)")
 
-turboPmacController("$(NAME)","$(ASYN_PORT)",8,0.01,1,1);
+turboPmacController("$(NAME)","$(ASYN_PORT)",8,$(TURBOPMAC1_BUSYPOLL),$(TURBOPMAC1_IDLEPOLL),1);
 turboPmacAxis("$(NAME)",1);
 turboPmacAxis("$(NAME)",5);
 
diff --git a/ioc/startioc.py b/ioc/startioc.py
index 1074d96..b4a7280 100755
--- a/ioc/startioc.py
+++ b/ioc/startioc.py
@@ -31,14 +31,24 @@ def startioc():
             f'epicsEnvSet("TURBOPMAC_VERSION", "{config["versions"]["turboPmac"]}")\n')
         out.write(
             f'epicsEnvSet("MASTERMACS_VERSION", "{config["versions"]["masterMacs"]}")\n')
+
         out.write(
             f'epicsEnvSet("TURBOPMAC1_IP", "{config["controllers"]["turboPmac1"]["ip"]}")\n')
         out.write(
             f'epicsEnvSet("TURBOPMAC1_PORT", "{config["controllers"]["turboPmac1"]["port"]}")\n')
+        out.write(
+            f'epicsEnvSet("TURBOPMAC1_BUSYPOLL", "{config["controllers"]["turboPmac1"]["busypoll"]}")\n')
+        out.write(
+            f'epicsEnvSet("TURBOPMAC1_IDLEPOLL", "{config["controllers"]["turboPmac1"]["idlepoll"]}")\n')
+
         out.write(
             f'epicsEnvSet("MASTERMACS1_IP", "{config["controllers"]["masterMacs1"]["ip"]}")\n')
         out.write(
             f'epicsEnvSet("MASTERMACS1_PORT", "{config["controllers"]["masterMacs1"]["port"]}")\n')
+        out.write(
+            f'epicsEnvSet("MASTERMACS1_BUSYPOLL", "{config["controllers"]["masterMacs1"]["busypoll"]}")\n')
+        out.write(
+            f'epicsEnvSet("MASTERMACS1_IDLEPOLL", "{config["controllers"]["masterMacs1"]["idlepoll"]}")\n')
 
     # Set environment variables
     os.environ["EPICS_BASE"] = "/usr/local/epics/base-7.0.7"
@@ -46,7 +56,7 @@ def startioc():
 
     # Change working directory so st.cmd can find other .cmd files
     os.chdir(root_dir / 'ioc')
-    
+
     # Run the IOC shell script
     try:
         subprocess.run(["/usr/local/bin/iocsh", "st.cmd"], check=True)
diff --git a/tests/sinqMotor/limits.py b/tests/sinqMotor/limits.py
index feee65c..05f9e7e 100644
--- a/tests/sinqMotor/limits.py
+++ b/tests/sinqMotor/limits.py
@@ -1,6 +1,8 @@
 import time
 import math
 
+from common import read_config
+
 
 def reread_limits_from_hw(motor):
     """
@@ -8,12 +10,13 @@ def reread_limits_from_hw(motor):
     hence any values manually written to DHLM or DLLM should be overwritten
     after the next poll at latest
     """
+
     (high_limit, low_limit) = motor.limits()
     motor.write_field('dialhighlimit', high_limit+10)
     motor.write_field('diallowlimit', low_limit-10)
 
-    # After two seconds, at least one poll has been done
-    time.sleep(2)
+    # Wait two idle poll periods
+    time.sleep(2 * motor.idlepoll)
 
     # Values should have been reread
     assert math.isclose(motor.read_field('highlimit'),
diff --git a/tests/sinqMotor/turboPmac/rot1/conftest.py b/tests/sinqMotor/turboPmac/rot1/conftest.py
index eaaba85..e725ef3 100644
--- a/tests/sinqMotor/turboPmac/rot1/conftest.py
+++ b/tests/sinqMotor/turboPmac/rot1/conftest.py
@@ -6,10 +6,7 @@ from common import TurboPMAC, read_config
 
 @pytest.fixture(autouse=True)
 def motor():
-    config = read_config()
-    return TurboPMAC(config['controllers']['turboPmac1']['ip'],
-                     config['controllers']['turboPmac1']['port'],
-                     config['pvprefix'] + ':turboPmac1:rot1')
+    return TurboPMAC('turboPmac1', 'rot1')
 
 
 def reset(motor):