diff --git a/db/sinqMotor.db b/db/sinqMotor.db
index 4be92df..011f76c 100755
--- a/db/sinqMotor.db
+++ b/db/sinqMotor.db
@@ -59,7 +59,7 @@ record(calc, "$(INSTR)$(M):StatusProblem")
 
 # If the value of this PV is 0, the according axis is currently disconnected from the controller.
 # Trying to give commands to a disconnected axis will result in an error message in the IOC shell
-# This record is coupled to the parameter library via motorConnected_ -> MOTOR_CONNECTED.
+# This record is coupled to the parameter library via motorConnected -> MOTOR_CONNECTED.
 record(longin, "$(INSTR)$(M):Connected")
 {
     field(DTYP, "asynInt32")
@@ -80,7 +80,7 @@ record(longout, "$(INSTR)$(M):Reset") {
 # This PV allows force-stopping the motor record from within the driver by setting
 # the motorForceStop_ value in the parameter library to 1. It should be reset to 0 by the driver afterwards.
 # The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
-# This record is coupled to the parameter library via motorForceStop_ -> MOTOR_FORCE_STOP.
+# This record is coupled to the parameter library via motorForceStop -> MOTOR_FORCE_STOP.
 record(longin, "$(INSTR)$(M):StopRBV")
 {
     field(DTYP, "asynInt32")
@@ -109,7 +109,7 @@ record(ao,"$(INSTR)$(M):RecResolution") {
 # This record contains messages from the driver (usually error messages).
 # The macro MSGTEXTSIZE can be used to set the maximum length of the message.
 # if not provided, a default value of 200 is used.
-# This record is coupled to the parameter library via motorMessageText_ -> MOTOR_MESSAGE_TEXT.
+# This record is coupled to the parameter library via motorMessageText -> MOTOR_MESSAGE_TEXT.
 record(waveform, "$(INSTR)$(M)-MsgTxt") {
     field(DTYP, "asynOctetRead")
     field(INP, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_MESSAGE_TEXT")
@@ -121,7 +121,7 @@ record(waveform, "$(INSTR)$(M)-MsgTxt") {
 # User-writable switch which disables the motor for an input of zero and enables
 # it otherwise. Some motors can't be disabled in certain states (e.g. during 
 # movement). This behaviour has to be implemented inside the driver.
-# This record is coupled to the parameter library via motorEnable_ -> MOTOR_ENABLE.
+# This record is coupled to the parameter library via motorEnable -> MOTOR_ENABLE.
 record(longout, "$(INSTR)$(M):Enable") {
     field(DTYP, "asynInt32")
     field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_ENABLE")
@@ -129,7 +129,7 @@ record(longout, "$(INSTR)$(M):Enable") {
 }
 
 # Readback value which returns 1 if the motor is disabled and 0 otherwise.
-# This record is coupled to the parameter library via motorEnableRBV_ -> MOTOR_ENABLE_RBV.
+# This record is coupled to the parameter library via motorEnableRBV -> MOTOR_ENABLE_RBV.
 record(longin, "$(INSTR)$(M):EnableRBV") {
     field(DTYP, "asynInt32")
     field(INP, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_ENABLE_RBV")
@@ -140,7 +140,7 @@ record(longin, "$(INSTR)$(M):EnableRBV") {
 # Some (older) motors cannot be disabled. This property has to be specified in
 # the driver by setting the corresponding parameter library entry motorCanDisable_
 # to 0 (its default value is 1).
-# This record is coupled to the parameter library via motorCanDisable_ -> MOTOR_CAN_DISABLE.
+# This record is coupled to the parameter library via motorCanDisable -> MOTOR_CAN_DISABLE.
 record(longin, "$(INSTR)$(M):CanDisable") {
     field(DTYP, "asynInt32")
     field(INP, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_CAN_DISABLE")
@@ -151,7 +151,7 @@ record(longin, "$(INSTR)$(M):CanDisable") {
 # For some motors, the user might be allowed to adjust the speed within the 
 # limits specified in the motor record as VBAS and VMAX. This functionality  can
 # be enabled by setting CANSETSPEED to 1. It is disabled by default.
-# This record is coupled to the parameter library via motorCanSetSpeed_ -> MOTOR_CAN_SET_SPEED.
+# This record is coupled to the parameter library via motorCanSetSpeed -> MOTOR_CAN_SET_SPEED.
 record(longout, "$(INSTR)$(M):CanSetSpeed") {
     field(DTYP, "asynInt32")
     field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_CAN_SET_SPEED")
@@ -188,7 +188,7 @@ record(longout, "$(INSTR)$(M):EnableMovWatchdog") {
 # go into a "limits hit" error state. To prevent this, this value allows adding
 # a small offset in EGU, which is  subtracted from the high limit and added to the
 # low limit.
-# This record is coupled to the parameter library via motorLimitsOffset_ -> MOTOR_LIMITS_OFFSET.
+# This record is coupled to the parameter library via motorLimitsOffset -> MOTOR_LIMITS_OFFSET.
 record(ao, "$(INSTR)$(M):LimitsOffset") {
     field(DTYP, "asynFloat64")
     field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_LIMITS_OFFSET")
@@ -201,7 +201,7 @@ record(ao, "$(INSTR)$(M):LimitsOffset") {
 # and pushes it to the motor record field "DHLM". This can be used to read limits
 # from the hardware and correspondingly update the motor record from the driver.
 # The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
-# This record is coupled to the parameter library via motorHighLimitFromDriver_ -> MOTOR_HIGH_LIMIT_FROM_DRIVER.
+# This record is coupled to the parameter library via motorHighLimitFromDriver -> MOTOR_HIGH_LIMIT_FROM_DRIVER.
 record(ai, "$(INSTR)$(M):DHLM_RBV")
 {
     field(DTYP, "asynFloat64")
@@ -222,7 +222,7 @@ record(ao, "$(INSTR)$(M):PushDHLM2Field") {
 # and pushes it to the motor record field "DLLM". This can be used to read limits
 # from the hardware and correspondingly update the motor record from the driver.
 # The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
-# This record is coupled to the parameter library via motorLowLimitFromDriver_ -> MOTOR_LOW_LIMIT_FROM_DRIVER.
+# This record is coupled to the parameter library via motorLowLimitFromDriver -> MOTOR_LOW_LIMIT_FROM_DRIVER.
 record(ai, "$(INSTR)$(M):DLLM_RBV")
 {
     field(DTYP, "asynFloat64")
@@ -264,7 +264,7 @@ record(ao, "$(INSTR)$(M):PushSPDB2Field") {
 # and pushes it to the motor record field "VELO". This can be used to read the speed value
 # from the hardware and correspondingly update the motor record from the driver.
 # The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
-# This record is coupled to the parameter library via motorVeloFromDriver_ -> MOTOR_VELO_FROM_DRIVER.
+# This record is coupled to the parameter library via motorVeloFromDriver -> MOTOR_VELO_FROM_DRIVER.
 record(ai, "$(INSTR)$(M):VELO_RBV")
 {
     field(DTYP, "asynFloat64")
@@ -282,7 +282,7 @@ record(ao, "$(INSTR)$(M):PushVELO2Field") {
 # and pushes it to the motor record field "VBAS". This can be used to read the lower speed limit
 # from the hardware and correspondingly update the motor record from the driver.
 # The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
-# This record is coupled to the parameter library via motorVbasFromDriver_ -> MOTOR_VBAS_FROM_DRIVER.
+# This record is coupled to the parameter library via motorVbasFromDriver -> MOTOR_VBAS_FROM_DRIVER.
 record(ai, "$(INSTR)$(M):VBAS_RBV")
 {
     field(DTYP, "asynFloat64")
@@ -300,7 +300,7 @@ record(ao, "$(INSTR)$(M):PushVBAS2Field") {
 # and pushes it to the motor record field "VMAX". This can be used to read the upper speed limit
 # from the hardware and correspondingly update the motor record from the driver.
 # The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
-# This record is coupled to the parameter library via motorVmaxFromDriver_ -> MOTOR_VMAX_FROM_DRIVER.
+# This record is coupled to the parameter library via motorVmaxFromDriver -> MOTOR_VMAX_FROM_DRIVER.
 record(ai, "$(INSTR)$(M):VMAX_RBV")
 {
     field(DTYP, "asynFloat64")
@@ -318,7 +318,7 @@ record(ao, "$(INSTR)$(M):PushVMAX2Field") {
 # and pushes it to the motor record field "ACCL". This can be used to read the acceleration
 # from the hardware and correspondingly update the motor record from the driver.
 # The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
-# This record is coupled to the parameter library via motorAcclFromDriver_ -> MOTOR_ACCL_FROM_DRIVER.
+# This record is coupled to the parameter library via motorAcclFromDriver -> MOTOR_ACCL_FROM_DRIVER.
 record(ai, "$(INSTR)$(M):ACCL_RBV")
 {
     field(DTYP, "asynFloat64")
@@ -336,8 +336,9 @@ record(ao, "$(INSTR)$(M):PushACCL2Field") {
 # codes and can be converted to chars in order to get the encoder type.
 # EPICS prepends the ASCII code with 80
 # The following encoder types are defined:
-# - "Absolute encoder" (array 80 65 98 115 111 108 117 116 101 32 101 110 99 111 100 101 114)
-# - "Incremental encoder" (array 80 73 110 99 114 101 109 101 110 116 97 108 32 101 110 99 111 100 101 114)
+# - "absolute" (array 80 97 98 115 111 108 117 116 101)
+# - "incremental" (array 80 105 110 99 114 101 109 101 110 116 97 108)
+# - "none" (array 80 110 111 110 101)
 # This record is coupled to the parameter library via encoderType -> ENCODER_TYPE.
 record(waveform, "$(INSTR)$(M):EncoderType") {
     field(DTYP, "asynOctetRead")