Various improvements:

- Moved the encoder type PV to sinqMotor
- Unified the PV naming scheme
- Removed the IsEnabled function - this status is read out from the
parameter library (motorEnableRBV_)

db/sinqMotor.db

@@ -60,7 +60,7 @@ 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.
-record(longin, "$(INSTR)$(M):Enable_RBV") {
+record(longin, "$(INSTR)$(M):EnableRBV") {
     field(DTYP, "asynInt32")
     field(INP, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_ENABLE_RBV")
     field(PINI, "NO")
@@ -223,3 +223,17 @@ record(ao, "$(INSTR)$(M):PushACCL2Field") {
     field(OMSL, "closed_loop")
 }
 
+# Read out the encoder type in human-readable form. The output numbers are ASCII
+# 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)
+# This record is coupled to the parameter library via encoderType -> ENCODER_TYPE.
+record(waveform, "$(INSTR)$(M):EncoderType") {
+    field(DTYP, "asynOctetRead")
+    field(INP, "@asyn($(CONTROLLER),$(AXIS),1) ENCODER_TYPE")
+    field(FTVL, "CHAR")
+    field(NELM, "80")
+    field(SCAN, "I/O Intr")
+}