diff --git a/src/sinqAxis.cpp b/src/sinqAxis.cpp
index a7b0a3d..2c3e374 100644
--- a/src/sinqAxis.cpp
+++ b/src/sinqAxis.cpp
@@ -358,15 +358,17 @@ asynStatus sinqAxis::move(double position, int relative, double minVelocity,
     // =========================================================================
 
     /*
-    Check if the motor is allowed to move: If the motor hasn't been homed in the
-    past and has an incremental encoder, it needs to be homed first!
+    If the motor has an incremental encoder and has not been homed yet, inform
+    the user with a warning, but allow the move anyway.
     */
     getAxisParamChecked(this, encoderType, &encType);
     getAxisParamChecked(this, motorStatusHomed, &motorStatHomed);
     if (strcmp(encType, IncrementalEncoder) == 0 && motorStatHomed == 0) {
-        setAxisParamChecked(this, motorErrorMessage,
-                            "Motor needs to be homed first.");
-        return asynError;
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_WARNING,
+                  "Controller \"%s\", axis %d => %s, line "
+                  "%d:\nMoving axis with incremental encoder which hasn't been "
+                  "homed yet. Reported position values might be wrong.\n",
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
     }
 
     // Store the target position internally