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_)

src/sinqAxis.cpp

@@ -17,6 +17,20 @@ asynStatus sinqAxis::atFirstPoll() {
     asynStatus status = asynSuccess;
     int variableSpeed = 0;
 
+    // Motor is assumed to be enabled
+    status = pC_->setIntegerParam(axisNo_, pC_->motorEnableRBV_, 1);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, "motorEnableRBV_",
+                                         __PRETTY_FUNCTION__, __LINE__);
+    }
+
+    // By default, motors cannot be disabled
+    status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable_, 0);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, "motorCanDisable_",
+                                         __PRETTY_FUNCTION__, __LINE__);
+    }
+
     status =
         pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed_, &variableSpeed);
     if (status != asynSuccess) {
@@ -118,10 +132,6 @@ asynStatus sinqAxis::poll(bool *moving) {
         }
     }
 
-    // Update the enable RBV
-    bool axisIsEnabled = false;
-
-    pl_status = isEnabled(&axisIsEnabled);
     if (pl_status != asynSuccess) {
         asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
                   "%s => line %d:\nFunction isEnabled failed with %s.\n",
@@ -134,12 +144,6 @@ asynStatus sinqAxis::poll(bool *moving) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                              __PRETTY_FUNCTION__, __LINE__);
         }
-    } else {
-        pl_status = setIntegerParam(pC_->motorEnableRBV_, axisIsEnabled);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorEnableRBV_",
-                                             __PRETTY_FUNCTION__, __LINE__);
-        }
     }
 
     // According to the function documentation of asynMotorAxis::poll, this
@@ -256,11 +260,6 @@ asynStatus sinqAxis::doHome(double minVelocity, double maxVelocity,
 
 asynStatus sinqAxis::enable(bool on) { return asynSuccess; }
 
-asynStatus sinqAxis::isEnabled(bool *on) {
-    *on = true;
-    return asynSuccess;
-}
-
 asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
     asynStatus status = asynSuccess;
     int variableSpeed = 0;