diff --git a/README.md b/README.md
index 7f1d21a..57abd2d 100644
--- a/README.md
+++ b/README.md
@@ -230,7 +230,15 @@ It calls `doReset` and performs some fast polls after `doReset` returns.
 - `doMove`: This is an empty function which should be overwritten by concrete driver implementations.
 - `home`: This function sets the internal status flags for the homing process and then calls doHome.
 - `doHome`: This is an empty function which should be overwritten by concrete driver implementations.
-- `poll`: This is a wrapper around `doPoll` which performs some bookkeeping tasks before and after calling `doPoll`:
+- `poll`: This is a wrapper around `forcedPoll` which does the following checks before calling `forcedPoll`:
+  - Are there any outstanding fast polls (method `outstandingForcedFastPolls` of the controller returns a value greater zero)?
+  - Was the axis moving last time its status was polled?
+  - Is adaptive polling disabled?
+  - Did an idle period pass since the last poll?
+If all of these conditions are false, no poll is performed. Otherwise, the `forcedPoll` method is called.
+This method should not be called in the driver code itself if a poll is needed - use `forcedPoll` instead!
+
+- `forcedPoll`: This is a wrapper around `doPoll` which performs some bookkeeping tasks before and after calling `doPoll`:
 
   Before calling `doPoll`:
   - Check if the paramLib already contains an old error message. If so, put it into a temporary bufffer
diff --git a/src/sinqAxis.cpp b/src/sinqAxis.cpp
index 06cd0a5..92945a0 100644
--- a/src/sinqAxis.cpp
+++ b/src/sinqAxis.cpp
@@ -171,14 +171,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
 sinqAxis::~sinqAxis() = default;
 
 asynStatus sinqAxis::poll(bool *moving) {
-
-    // Local variable declaration
-    asynStatus pl_status = asynSuccess;
-    asynStatus poll_status = asynSuccess;
-    int homing = 0;
     int adaptivePolling = 0;
-    char waitingMessage[pC_->MAXBUF_] = {0};
-    char newMessage[pC_->MAXBUF_] = {0};
 
     /*
     If adaptive polling is enabled:
@@ -201,22 +194,33 @@ asynStatus sinqAxis::poll(bool *moving) {
     Check if both adaptive polling is enabled and no forced fast polls are still
     required.
      */
-    if (adaptivePolling != 0 && pC_->outstandingForcedFastPolls() == 0) {
-        // Motor wasn't moving during the last poll
-        if (!pSinqA_->wasMoving) {
+    if (adaptivePolling != 0 && pC_->outstandingForcedFastPolls() == 0 &&
+        !pSinqA_->wasMoving) {
 
-            // Add the idle poll period
-            epicsTimeStamp earliestTimeNextPoll = pSinqA_->lastPollTime;
-            epicsTimeAddSeconds(&earliestTimeNextPoll, pC_->idlePollPeriod());
+        // Add the idle poll period
+        epicsTimeStamp earliestTimeNextPoll = pSinqA_->lastPollTime;
+        epicsTimeAddSeconds(&earliestTimeNextPoll, pC_->idlePollPeriod());
 
-            if (epicsTimeLessThanEqual(&earliestTimeNextPoll, &ts) == 0) {
-                *moving = false;
-                return asynSuccess;
-            }
+        if (epicsTimeLessThanEqual(&earliestTimeNextPoll, &ts) == 0) {
+            *moving = false;
+            return asynSuccess;
         }
     }
+    return forcedPoll(moving);
+}
+
+asynStatus sinqAxis::forcedPoll(bool *moving) {
+
+    // Local variable declaration
+    asynStatus pl_status = asynSuccess;
+    asynStatus poll_status = asynSuccess;
+    int homing = 0;
+    char waitingMessage[pC_->MAXBUF_] = {0};
+    char newMessage[pC_->MAXBUF_] = {0};
 
     // Update the start time of the last poll
+    epicsTimeStamp ts;
+    epicsTimeGetCurrent(&ts);
     pSinqA_->lastPollTime = ts;
 
     /*
diff --git a/src/sinqAxis.h b/src/sinqAxis.h
index cf5584b..d210a9d 100644
--- a/src/sinqAxis.h
+++ b/src/sinqAxis.h
@@ -31,6 +31,27 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
      */
     ~sinqAxis();
 
+    /**
+     * @brief Check if a poll should be performed. If yes, call `forcedPoll`.
+     *
+    This is a wrapper around `forcedPoll` which does the following checks before
+    calling `forcedPoll`:
+    - Are there any outstanding fast polls (method `outstandingForcedFastPolls`
+    of the controller returns a value greater zero)?
+    - Was the axis moving last time its status was polled?
+    - Is adaptive polling disabled?
+    - Did an idle period pass since the last poll?
+    If all of these conditions are false, no poll is performed. Otherwise, the
+    `forcedPoll` method is called. This method should not be called in the
+    driver code itself if a poll is needed - use `forcedPoll` instead!
+    *
+    * @param moving              Forwarded to `forcedPoll` or set to false
+    (depending on whether `forcedPoll was called`).
+    * @return asynStatus         Forward the status of `forcedPoll` or set to
+    asynSuccess (depending on whether `forcedPoll was called`).
+     */
+    virtual asynStatus poll(bool *moving);
+
     /**
      * @brief Perform some standardized operations before and after the concrete
     `doPoll` implementation.
@@ -46,7 +67,7 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
 
     - The flags `motorStatusHome_`, `motorStatusHomed_` and
     `motorStatusAtHome_` are set to their idle values (0, 1 and 1 respectively)
-    in the `poll()` method once the homing procedure is finished. See the
+    in the `forcedPoll()` method once the homing procedure is finished. See the
     documentation of the `home()` method for more details.
 
     - Run `callParamCallbacks()`
@@ -56,9 +77,9 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
      * @param moving              Forwarded to `doPoll`.
      * @return asynStatus         Forward the status of `doPoll`, unless one of
     the parameter library operation fails (in that case, returns the status of
-    the failed operation.
+    the failed operation).
      */
-    virtual asynStatus poll(bool *moving);
+    virtual asynStatus forcedPoll(bool *moving);
 
     /**
      * @brief Implementation of the "proper", device-specific poll method. This
@@ -142,7 +163,7 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
      *
      * The flags `motorStatusHome_`, `motorStatusHomed_` and
     `motorStatusAtHome_` are set to their idle values (0, 1 and 1 respectively)
-    in the `poll()` method once the homing procedure is finished.
+    in the `forcedPoll())` method once the homing procedure is finished.
      *
      * @param minVelocity         Forwarded to `doHome`.
      * @param maxVelocity         Forwarded to `doHome`.