diff --git a/src/sinqAxis.cpp b/src/sinqAxis.cpp
index 83ab0d3..b7c7a58 100644
--- a/src/sinqAxis.cpp
+++ b/src/sinqAxis.cpp
@@ -10,6 +10,8 @@
 #include <math.h>
 #include <unistd.h>
 
+#define getControllerMethod pController
+
 struct sinqAxisImpl {
     // Internal variables used in the movement timeout watchdog
     time_t expectedArrivalTime;
@@ -29,9 +31,9 @@ struct sinqAxisImpl {
 };
 
 // Generic fallback - if the compiler tries to compile this function, it fails.
-template <typename T>
-asynStatus setAxisParam(sinqAxis *axis, const char *indexName,
-                        int (sinqController::*func)(), T writeValue,
+template <typename A, typename C, typename T>
+asynStatus setAxisParam(A *axis, C *controller, const char *indexName,
+                        int (C::*func)(), T writeValue,
                         const char *callerFunctionName, int lineNumber) {
     static_assert(
         sizeof(T) == 0,
@@ -39,10 +41,11 @@ asynStatus setAxisParam(sinqAxis *axis, const char *indexName,
     return asynError;
 }
 
-template <>
-asynStatus setAxisParam<int>(sinqAxis *axis, const char *indexName,
-                             int (sinqController::*func)(), int writeValue,
-                             const char *callerFunctionName, int lineNumber) {
+template <typename A, typename C, typename T,
+          std::enable_if_t<std::is_same<T, int>::value, int> = 0>
+asynStatus setAxisParam(A *axis, C *controller, const char *indexName,
+                        int (C::*func)(), T writeValue,
+                        const char *callerFunctionName, int lineNumber) {
     int indexValue = (axis->pController()->*func)();
     asynStatus status = axis->setIntegerParam(indexValue, writeValue);
     if (status != asynSuccess) {
@@ -52,19 +55,20 @@ asynStatus setAxisParam<int>(sinqAxis *axis, const char *indexName,
     return asynSuccess;
 }
 
-template <>
-asynStatus setAxisParam<bool>(sinqAxis *axis, const char *indexName,
-                              int (sinqController::*func)(), bool writeValue,
-                              const char *callerFunctionName, int lineNumber) {
+template <typename A, typename C, typename T,
+          std::enable_if_t<std::is_same<T, bool>::value, bool> = 0>
+asynStatus setAxisParam(A *axis, C *controller, const char *indexName,
+                        int (C::*func)(), T writeValue,
+                        const char *callerFunctionName, int lineNumber) {
     return setAxisParam(axis, indexName, func, static_cast<int>(writeValue),
                         callerFunctionName, lineNumber);
 }
 
-template <>
-asynStatus
-setAxisParam<double>(sinqAxis *axis, const char *indexName,
-                     int (sinqController::*func)(), double writeValue,
-                     const char *callerFunctionName, int lineNumber) {
+template <typename A, typename C, typename T,
+          std::enable_if_t<std::is_same<T, double>::value, double> = 0>
+asynStatus setAxisParam(A *axis, C *controller, const char *indexName,
+                        int (sinqController::*func)(), T writeValue,
+                        const char *callerFunctionName, int lineNumber) {
     int indexValue = (axis->pController()->*func)();
     asynStatus status = axis->setDoubleParam(indexValue, writeValue);
     if (status != asynSuccess) {
@@ -74,11 +78,11 @@ setAxisParam<double>(sinqAxis *axis, const char *indexName,
     return asynSuccess;
 }
 
-template <>
-asynStatus setAxisParam<char *>(sinqAxis *axis, const char *indexName,
-                                int (sinqController::*func)(), char *writeValue,
-                                const char *callerFunctionName,
-                                int lineNumber) {
+template <typename A, typename C, typename T,
+          std::enable_if_t<std::is_same<T, char *>::value, char *> = 0>
+asynStatus setAxisParam(A *axis, C *controller, const char *indexName,
+                        int (C::*func)(), T writeValue,
+                        const char *callerFunctionName, int lineNumber) {
     int indexValue = (axis->pController()->*func)();
     asynStatus status = axis->setStringParam(indexValue, writeValue);
     if (status != asynSuccess) {
@@ -88,12 +92,12 @@ asynStatus setAxisParam<char *>(sinqAxis *axis, const char *indexName,
     return asynSuccess;
 }
 
-template <>
-asynStatus setAxisParam<const char *>(sinqAxis *axis, const char *indexName,
-                                      int (sinqController::*func)(),
-                                      const char *writeValue,
-                                      const char *callerFunctionName,
-                                      int lineNumber) {
+template <
+    typename A, typename C, typename T,
+    std::enable_if_t<std::is_same<T, const char *>::value, const char *> = 0>
+asynStatus setAxisParam(A *axis, C *controller, const char *indexName,
+                        int (C::*func)(), T writeValue,
+                        const char *callerFunctionName, int lineNumber) {
     int indexValue = (axis->pController()->*func)();
     asynStatus status = axis->setStringParam(indexValue, writeValue);
     if (status != asynSuccess) {
@@ -104,9 +108,9 @@ asynStatus setAxisParam<const char *>(sinqAxis *axis, const char *indexName,
 }
 
 // Generic fallback - if the compiler tries to compile this function, it fails.
-template <typename T>
-asynStatus getAxisParam(sinqAxis *axis, const char *indexName,
-                        int (sinqController::*func)(), T *readValue,
+template <typename A, typename C, typename T>
+asynStatus getAxisParam(A *axis, C *controller, const char *indexName,
+                        int (C::*func)(), T *readValue,
                         const char *callerFunctionName, int lineNumber) {
     static_assert(
         sizeof(T) == 0,
@@ -114,9 +118,10 @@ asynStatus getAxisParam(sinqAxis *axis, const char *indexName,
     return asynError;
 }
 
-template <>
-asynStatus getAxisParam<int>(sinqAxis *axis, const char *indexName,
-                             int (sinqController::*func)(), int *readValue,
+template <typename A, typename C, typename T,
+          std::enable_if_t<std::is_same<T, int>::value, int> = 0>
+asynStatus getAxisParam<int>(A *axis, C *controller, const char *indexName,
+                             int (C::*func)(), T *readValue,
                              const char *callerFunctionName, int lineNumber) {
     int indexValue = (axis->pController()->*func)();
     asynStatus status = axis->pController()->getIntegerParam(
@@ -128,19 +133,21 @@ asynStatus getAxisParam<int>(sinqAxis *axis, const char *indexName,
     return asynSuccess;
 }
 
-template <>
-asynStatus getAxisParam<bool>(sinqAxis *axis, const char *indexName,
-                              int (sinqController::*func)(), bool *readValue,
+template <typename A, typename C, typename T,
+          std::enable_if_t<std::is_same<T, bool>::value, bool> = 0>
+asynStatus getAxisParam<bool>(A *axis, C *controller, const char *indexName,
+                              int (C::*func)(), T *readValue,
                               const char *callerFunctionName, int lineNumber) {
     return getAxisParam(axis, indexName, func, (int *)readValue,
                         callerFunctionName, lineNumber);
 }
 
-template <>
-asynStatus
-getAxisParam<double>(sinqAxis *axis, const char *indexName,
-                     int (sinqController::*func)(), double *readValue,
-                     const char *callerFunctionName, int lineNumber) {
+template <typename A, typename C, typename T,
+          std::enable_if_t<std::is_same<T, double>::value, double> = 0>
+asynStatus getAxisParam<double>(A *axis, C *controller, const char *indexName,
+                                int (C::*func)(), T *readValue,
+                                const char *callerFunctionName,
+                                int lineNumber) {
     int indexValue = (axis->pController()->*func)();
     asynStatus status = axis->pController()->getDoubleParam(
         axis->axisNo(), indexValue, readValue);
@@ -151,9 +158,10 @@ getAxisParam<double>(sinqAxis *axis, const char *indexName,
     return asynSuccess;
 }
 
-template <>
-asynStatus getAxisParam<char>(sinqAxis *axis, const char *indexName,
-                              int (sinqController::*func)(), char *readValue,
+template <typename A, typename C, typename T,
+          std::enable_if_t<std::is_same<T, char>::value, char> = 0>
+asynStatus getAxisParam<char>(A *axis, C *controller, const char *indexName,
+                              int (C::*func)(), T *readValue,
                               const char *callerFunctionName, int lineNumber) {
 
     int maxChars = 200;
@@ -168,20 +176,21 @@ asynStatus getAxisParam<char>(sinqAxis *axis, const char *indexName,
     return asynSuccess;
 }
 
-template <size_t N>
-asynStatus getAxisParam(sinqAxis *axis, const char *indexName,
-                        int (sinqController::*func)(), char (&readValue)[N],
+template <typename A, typename C, typename T,
+          std::enable_if_t<std::is_same<T, char>::value, char> = 0, size_t N>
+asynStatus getAxisParam(A *axis, C *controller, const char *indexName,
+                        int (C::*func)(), T (&readValue)[N],
                         const char *callerFunctionName, int lineNumber) {
     // Decay the array to char*
-    return getAxisParam<char>(axis, indexName, func,
+    return getAxisParam<char>(axis, controller, indexName, func,
                               static_cast<char *>(readValue),
                               callerFunctionName, lineNumber);
 }
 
-template <>
+template <typename A, typename C>
 asynStatus
-getAxisParam<std::string>(sinqAxis *axis, const char *indexName,
-                          int (sinqController::*func)(), std::string *readValue,
+getAxisParam<std::string>(A *axis, C *controller, const char *indexName,
+                          int (C::*func)(), std::string *readValue,
                           const char *callerFunctionName, int lineNumber) {
     int indexValue = (axis->pController()->*func)();
 
diff --git a/src/sinqAxis.h b/src/sinqAxis.h
index 1f741f4..17f140d 100644
--- a/src/sinqAxis.h
+++ b/src/sinqAxis.h
@@ -365,9 +365,22 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     asynStatus assertConnected();
 
     /**
-     * @brief Return a pointer to the axis controller
+     * @brief Return a pointer to the axis controller.
+     *
+     * This function should be overriden in derived classes using the `override`
+     * keyword so the macros `getAxisParamChecked` and `setAxisParamChecked`
+     * work correctly:
+     *
+     * ```
+     * class mySpecialAxis : public sinqAxis {
+        public:
+            mySpecialController* getControllerMethod() override {
+                return mySpecialControllerPtr;
+            }
+        };
+     * ```
      */
-    sinqController *pController() { return pC_; };
+    virtual sinqController *pController() { return pC_; };
 
     /**
      * @brief Returns true, if the axis was moving in the last poll cycle, and
@@ -423,9 +436,9 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
  * @param lineNumber
  * @return asynStatus
  */
-template <typename T>
-asynStatus setAxisParam(sinqAxis *axis, const char *indexName,
-                        int (sinqController::*func)(), T writeValue,
+template <typename A, typename C, typename T>
+asynStatus setAxisParam(A *axis, C *controller, const char *indexName,
+                        int (C::*func)(), T writeValue,
                         const char *callerFunctionName, int lineNumber);
 
 /**
@@ -457,7 +470,7 @@ asynStatus setAxisParam(sinqAxis *axis, const char *indexName,
 #define setAxisParamChecked(axis, indexGetterFunction, writeValue)             \
     {                                                                          \
         asynStatus setStatus = setAxisParam(                                   \
-            axis, #indexGetterFunction,                                        \
+            axis, axis->pController(), #indexGetterFunction,                   \
             &std::remove_pointer<                                              \
                 decltype(axis->pController())>::type::indexGetterFunction,     \
             writeValue, __PRETTY_FUNCTION__, __LINE__);                        \
@@ -488,17 +501,17 @@ asynStatus setAxisParam(sinqAxis *axis, const char *indexName,
  * to.
  * @return asynStatus
  */
-template <typename T>
-asynStatus getAxisParam(sinqAxis *axis, const char *indexName,
-                        int (sinqController::*func)(), T *readValue,
-                        const char *callerFunctionName, int lineNumber);
+template <typename A, typename C, typename T>
+asynStatus getAxisParam(A *axis, const char *indexName, int (C::*func)(),
+                        T *readValue, const char *callerFunctionName,
+                        int lineNumber);
 
 /**
  * @brief Macro to get an paramLib parameter and error checking the return value
  *
  * This macro is a wrapper around `getIntegerParam` / `getDoubleParam` /
  * `getStringParam` which checks if the operation was successfull. If it wasn't,
- * it returns by calling the paramLibAccessFailed function.
+ * it returns by calling the paramLibAccessFailed function. In order
  *
  * For example, the following input:
  * ```
@@ -522,7 +535,7 @@ asynStatus getAxisParam(sinqAxis *axis, const char *indexName,
 #define getAxisParamChecked(axis, indexGetterFunction, readValue)              \
     {                                                                          \
         asynStatus getStatus = getAxisParam(                                   \
-            axis, #indexGetterFunction,                                        \
+            axis, axis->pController(), #indexGetterFunction,                   \
             &std::remove_pointer<                                              \
                 decltype(axis->pController())>::type::indexGetterFunction,     \
             readValue, __PRETTY_FUNCTION__, __LINE__);                         \