diff --git a/src/sinqAxis.cpp b/src/sinqAxis.cpp
index 2c3e374..6f5444d 100644
--- a/src/sinqAxis.cpp
+++ b/src/sinqAxis.cpp
@@ -428,9 +428,14 @@ asynStatus sinqAxis::home(double minVelocity, double maxVelocity,
         return pC_->wakeupPoller();
 
     } else if (status == asynError) {
+
         // asynError means that we tried to home an absolute encoder
-        setAxisParamChecked(this, motorErrorMessage,
-                            "Can't home a motor with absolute encoder");
+        char msg[pC_->MAXBUF_];
+        snprintf(msg, sizeof(msg),
+                 "Controller \"%s\", axis %d: Can't home a motor with absolute "
+                 "encoder.",
+                 pC_->portName, axisNo());
+        setAxisParamChecked(this, motorErrorMessage, msg);
 
         status = assertConnected();
         if (status != asynSuccess) {
@@ -566,9 +571,14 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
                       "vmax=%lf.\n",
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                       vbas, vmax);
-            setAxisParamChecked(this, motorErrorMessage,
-                                "Lower speed limit must not be smaller than "
-                                "upper speed limit. Please call the support.");
+
+            char msg[pC_->MAXBUF_];
+            snprintf(
+                msg, sizeof(msg),
+                "Controller \"%s\", axis %d: Lower speed limit must not "
+                "be smaller than upper speed limit. Please call the support.",
+                pC_->portName, axisNo());
+            setAxisParamChecked(this, motorErrorMessage, msg);
             return asynError;
         }
         if (velo < vbas || velo > vmax) {
@@ -579,10 +589,13 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                       velo, vbas, vmax);
 
-            setAxisParamChecked(
-                this, motorErrorMessage,
-                "Speed is not inside limits. Set a new valid speed and try "
-                "to move the motor. Otherwise, please call the support.");
+            char msg[pC_->MAXBUF_];
+            snprintf(msg, sizeof(msg),
+                     "Controller \"%s\", axis %d: Speed is not inside limits. "
+                     "Set a new valid speed and try to move the motor. "
+                     "Otherwise, please call the support.",
+                     pC_->portName, axisNo());
+            setAxisParamChecked(this, motorErrorMessage, msg);
             return asynError;
         }
 
@@ -722,9 +735,13 @@ asynStatus sinqAxis::checkMovTimeoutWatchdog(bool moving) {
                       pSinqA_->expectedArrivalTime, time(NULL));
         }
 
-        setAxisParamChecked(
-            this, motorErrorMessage,
-            "Exceeded expected arrival time. Check if the axis is blocked.");
+        char msg[pC_->MAXBUF_];
+        snprintf(msg, sizeof(msg),
+                 "Controller \"%s\", axis %d: Exceeded expected arrival time. "
+                 "Check if the axis is blocked.",
+                 pC_->portName, axisNo());
+
+        setAxisParamChecked(this, motorErrorMessage, msg);
         setAxisParamChecked(this, motorStatusProblem, true);
     } else {
         pC_->getMsgPrintControl().resetCount(key, pC_->pasynUser());
diff --git a/src/sinqController.cpp b/src/sinqController.cpp
index e54c08d..0e31c8b 100644
--- a/src/sinqController.cpp
+++ b/src/sinqController.cpp
@@ -503,9 +503,12 @@ asynStatus sinqController::couldNotParseResponse(const char *command,
         return asynError;
     }
 
-    setAxisParamChecked(
-        axis, motorErrorMessage,
-        "Could not interpret controller response. Please call the support");
+    char msg[MAXBUF_];
+    snprintf(msg, sizeof(msg),
+             "Controller \"%s\", axis %d: Could not interpret controller "
+             "response \"%s\" for command \"%s\". Please call the support.",
+             portName, axisNo, response, command);
+    setAxisParamChecked(axis, motorErrorMessage, msg);
     setAxisParamChecked(axis, motorStatusCommsError, true);
 
     return asynError;
@@ -573,9 +576,10 @@ asynStatus sinqController::checkComTimeoutWatchdog(int axisNo,
 
     if (wantToPrint) {
         snprintf(motorMessage, motorMessageSize,
-                 "More than %ld communication timeouts in %ld seconds. Please "
-                 "call the support.",
-                 pSinqC_->maxNumberTimeouts, pSinqC_->comTimeoutWindow);
+                 "Controller \"%s\", axis %d: More than %ld communication "
+                 "timeouts in %ld seconds. Please call the support.",
+                 portName, axisNo, pSinqC_->maxNumberTimeouts,
+                 pSinqC_->comTimeoutWindow);
 
         paramLibStatus = setIntegerParam(motorStatusCommsError_, 1);
         if (paramLibStatus != asynSuccess) {
@@ -609,9 +613,11 @@ asynStatus sinqController::checkMaxSubsequentTimeouts(int timeoutNo, int axisNo,
 
     if (timeoutNo >= pSinqC_->maxSubsequentTimeouts) {
         if (!pSinqC_->maxSubsequentTimeoutsExceeded) {
-            snprintf(motorMessage, motorMessageSize,
-                     "Communication timeout between IOC and motor controller. "
-                     "Trying to reconnect ...");
+            snprintf(
+                motorMessage, motorMessageSize,
+                "Controller \"%s\", axis %d: Communication timeout "
+                "between IOC and motor controller. Trying to reconnect ...",
+                portName, axisNo);
             asynPrint(
                 this->pasynUserSelf, ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d => %s, line %d:\nMore than %d "