diff --git a/README.md b/README.md
index 015eee8..e410191 100644
--- a/README.md
+++ b/README.md
@@ -156,6 +156,10 @@ coupling, changes to the parameter library via setDoubleParam are NOT
 transferred to (motor_record_pv_name).MRES or to
 (motor_record_pv_name):Resolution.
 
+### Additional records
+
+`sinqMotor` provides a variety of additional records. See `db/sinqMotor.db` for the complete list and the documentation.
+
 ## Developer guide
 
 ### Base classes
diff --git a/db/sinqMotor.db b/db/sinqMotor.db
index b074118..6016a27 100755
--- a/db/sinqMotor.db
+++ b/db/sinqMotor.db
@@ -34,6 +34,8 @@ record(motor,"$(INSTR)$(M)")
     field(EGU,"$(EGU)")
     field(INIT,"")
     field(PINI,"NO")
+    field(DHLM, "$(DHLM=0)")
+    field(DLLM, "$(DLLM=0)")
     field(TWV,"1")
     field(RTRY,"0")
     field(RDBD,"0") 
@@ -189,11 +191,13 @@ record(ai, "$(INSTR)$(M):DHLM_RBV")
     field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_HIGH_LIMIT_FROM_DRIVER")
     field(SCAN, "I/O Intr")
     field(FLNK, "$(INSTR)$(M):PushDHLM2Field")
+    field(PINI, "NO")
 }
 record(ao, "$(INSTR)$(M):PushDHLM2Field") {
     field(DOL,  "$(INSTR)$(M):DHLM_RBV NPP")
     field(OUT,  "$(INSTR)$(M).DHLM")
     field(OMSL, "closed_loop")
+    field(PINI, "NO")
 }
 
 # This record pair reads the parameter library value for "motorLowLimitFromDriver_"
@@ -208,11 +212,13 @@ record(ai, "$(INSTR)$(M):DLLM_RBV")
     field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_LOW_LIMIT_FROM_DRIVER")
     field(SCAN, "I/O Intr")
     field(FLNK, "$(INSTR)$(M):PushDLLM2Field")
+    field(PINI, "NO")
 }
 record(ao, "$(INSTR)$(M):PushDLLM2Field") {
     field(DOL,  "$(INSTR)$(M):DLLM_RBV NPP")
     field(OUT,  "$(INSTR)$(M).DLLM")
     field(OMSL, "closed_loop")
+    field(PINI, "NO")
 }
 
 # This record pair reads the parameter library value for "motorVeloFromDriver_"
diff --git a/src/sinqAxis.cpp b/src/sinqAxis.cpp
index c925217..bb9c045 100644
--- a/src/sinqAxis.cpp
+++ b/src/sinqAxis.cpp
@@ -14,6 +14,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
     scaleMovTimeout_ = 2.0;
     offsetMovTimeout_ = 30;
     targetPosition_ = 0.0;
+    wasMoving_ = false;
 
     epicsTimeGetCurrent(&lastPollTime_);
 
@@ -22,7 +23,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
     // check, the IOC is stopped, since this is definitely a configuration
     // problem.
     if ((axisNo < 0) || (axisNo >= pC->numAxes())) {
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
                   "(axis index %d is not in range 0 to %d)\n. Terminating IOC",
                   pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo,
@@ -33,7 +34,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
     // Motor is assumed to be enabled
     status = setIntegerParam(pC_->motorEnableRBV(), 1);
     if (status != asynSuccess) {
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
                   "(setting a parameter value failed "
                   "with %s)\n. Terminating IOC",
@@ -45,7 +46,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
     // By default, motors cannot be disabled
     status = setIntegerParam(pC_->motorCanDisable(), 0);
     if (status != asynSuccess) {
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
                   "(setting a parameter value failed "
                   "with %s)\n. Terminating IOC",
@@ -57,7 +58,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
     // Provide a default value for the motor position.
     status = setDoubleParam(pC_->motorPosition(), 0.0);
     if (status != asynSuccess) {
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
                   "(setting a parameter value failed "
                   "with %s)\n. Terminating IOC",
@@ -69,7 +70,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
     // We assume that the motor has no status problems initially
     status = setIntegerParam(pC_->motorStatusProblem(), 0);
     if (status != asynSuccess) {
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
                   "(setting a parameter value failed "
                   "with %s)\n. Terminating IOC",
@@ -81,7 +82,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
     // Set the homing-related flags
     status = setIntegerParam(pC_->motorStatusHome(), 0);
     if (status != asynSuccess) {
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
                   "(setting a parameter value failed "
                   "with %s)\n. Terminating IOC",
@@ -91,7 +92,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
     }
     status = setIntegerParam(pC_->motorStatusHomed(), 0);
     if (status != asynSuccess) {
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
                   "(setting a parameter value failed "
                   "with %s)\n. Terminating IOC",
@@ -101,7 +102,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
     }
     status = setIntegerParam(pC_->motorStatusAtHome(), 0);
     if (status != asynSuccess) {
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
                   "(setting a parameter value failed "
                   "with %s)\n. Terminating IOC",
@@ -144,12 +145,13 @@ asynStatus sinqAxis::poll(bool *moving) {
 
     if (adaptivePolling != 0) {
         // Motor wasn't moving during the last poll
-        if (getWasMovingFlag() == 0) {
+        if (!wasMoving_) {
 
             // Add the idle poll period
             epicsTimeStamp earliestTimeNextPoll = lastPollTime_;
             epicsTimeAddSeconds(&earliestTimeNextPoll, pC_->idlePollPeriod());
-            if (epicsTimeLessThan(&earliestTimeNextPoll, &ts) == 1) {
+
+            if (epicsTimeLessThanEqual(&earliestTimeNextPoll, &ts) == 0) {
                 *moving = false;
                 return asynSuccess;
             }
@@ -188,6 +190,9 @@ asynStatus sinqAxis::poll(bool *moving) {
     // return.
     poll_status = doPoll(moving);
 
+    // Motor was moving during this poll
+    wasMoving_ = *moving;
+
     // The poll did not succeed: Something went wrong and the motor has a status
     // problem.
     if (poll_status != asynSuccess) {
@@ -244,8 +249,8 @@ asynStatus sinqAxis::poll(bool *moving) {
     bool wantToPrint = pl_status != asynSuccess;
     if (pC_->getMsgPrintControl().shouldBePrinted(
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, wantToPrint,
-            pC_->asynUserSelf())) {
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+            pC_->pasynUser())) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line "
                   "%d:\ncallParamCallbacks failed with %s.%s\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -298,7 +303,7 @@ asynStatus sinqAxis::move(double position, int relative, double minVelocity,
     }
 
     // Needed for adaptive polling
-    setWasMovingFlag(1);
+    wasMoving_ = true;
 
     return pC_->callParamCallbacks();
 }
@@ -453,7 +458,7 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
 
         // Check the inputs and create corresponding error messages
         if (vbas > vmax) {
-            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d => %s, line %d:\nLower speed "
                       "limit vbas=%lf must not be smaller than upper limit "
                       "vmax=%lf.\n",
@@ -471,7 +476,7 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
             return asynError;
         }
         if (velo < vbas || velo > vmax) {
-            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d => %s, line %d:\nActual "
                       "speed velo=%lf must be between lower limit vbas=%lf and "
                       "upper limit vmax=%lf.\n",
@@ -668,7 +673,7 @@ asynStatus sinqAxis::checkMovTimeoutWatchdog(bool moving) {
     // Check if the expected time of arrival has been exceeded.
     if (expectedArrivalTime_ < time(NULL)) {
         // Check the watchdog
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nExceeded "
                   "expected arrival time %ld (current time is %ld).\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
diff --git a/src/sinqAxis.h b/src/sinqAxis.h
index 16fa710..56f141e 100644
--- a/src/sinqAxis.h
+++ b/src/sinqAxis.h
@@ -357,6 +357,8 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     bool watchdogMovActive_;
     // Store the motor target position for the movement time calculation
     double targetPosition_;
+    
+    bool wasMoving_;
 
     /*
     Store the time since the last poll
diff --git a/src/sinqController.h b/src/sinqController.h
index b9a0b42..ef88351 100644
--- a/src/sinqController.h
+++ b/src/sinqController.h
@@ -298,7 +298,19 @@ class epicsShareClass sinqController : public asynMotorController {
     int numAxes() { return numAxes_; }
     double idlePollPeriod() { return idlePollPeriod_; }
     double movingPollPeriod() { return movingPollPeriod_; }
-    asynUser *asynUserSelf() { return pasynUserSelf; }
+
+    /**
+     * @brief Return a pointer to the asynUser of the controller
+     *
+     * @return asynUser*
+     */
+    asynUser *pasynUser() { return pasynUserSelf; }
+
+    /**
+     * @brief Return a pointer to the low-level octet (string) IP Port
+     *
+     * @return asynUser*
+     */
     asynUser *pasynOctetSyncIOipPort() { return pasynOctetSyncIOipPort_; }
 
     // =========================================================================