diff --git a/sinqMotor b/sinqMotor
index 275672a..b95e782 160000
--- a/sinqMotor
+++ b/sinqMotor
@@ -1 +1 @@
-Subproject commit 275672aaef41aba2ec425d79f8bbb65d5f18f80c
+Subproject commit b95e782ea8de7455a716e82ee9fe860f71024d83
diff --git a/src/turboPmacAxis.cpp b/src/turboPmacAxis.cpp
index 6cabb95..ce4977e 100644
--- a/src/turboPmacAxis.cpp
+++ b/src/turboPmacAxis.cpp
@@ -93,8 +93,8 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
     }
 
     // Default values for the watchdog timeout mechanism
-    offsetMovTimeout_ = 30; // seconds
-    scaleMovTimeout_ = 2.0;
+    setOffsetMovTimeout(30.0); // seconds
+    setScaleMovTimeout(2.0);
 }
 
 turboPmacAxis::~turboPmacAxis(void) {
@@ -166,7 +166,7 @@ asynStatus turboPmacAxis::init() {
                    &motorVmax, &motorVelocity, &motorAccel, &acoDelay);
 
     // The acoDelay is given in milliseconds -> Convert to seconds, rounded up
-    offsetMovTimeout_ = std::ceil(acoDelay / 1000.0);
+    setOffsetMovTimeout(std::ceil(acoDelay / 1000.0));
 
     // The PMAC electronic specifies the acceleration in m/s^2. Since we
     // otherwise work with the base length mm, the acceleration is converted
@@ -1005,6 +1005,10 @@ asynStatus turboPmacAxis::stop(double acceleration) {
         }
     }
 
+    // Reset the driver to idle state and move out of the handshake wait loop,
+    // if we're currently inside it.
+    waitForHandshake_ = false;
+
     return rw_status;
 }
 
@@ -1039,6 +1043,10 @@ asynStatus turboPmacAxis::doReset() {
         }
     }
 
+    // Reset the driver to idle state and move out of the handshake wait loop,
+    // if we're currently inside it.
+    waitForHandshake_ = false;
+
     return rw_status;
 }
 
diff --git a/src/turboPmacController.cpp b/src/turboPmacController.cpp
index dc80072..a3fd6b0 100644
--- a/src/turboPmacController.cpp
+++ b/src/turboPmacController.cpp
@@ -55,7 +55,7 @@ turboPmacController::turboPmacController(const char *portName,
 
     // Maximum allowed number of subsequent timeouts before the user is
     // informed.
-    maxSubsequentTimeouts_ = 10;
+    setMaxSubsequentTimeouts(10);
 
     // =========================================================================
     // Create additional parameter library entries
@@ -100,7 +100,7 @@ turboPmacController::turboPmacController(const char *portName,
     const char *message_from_device =
         "\006"; // Hex-code for ACK (acknowledge) -> Each message from the MCU
                 // is terminated by this value
-    status = pasynOctetSyncIO->setInputEos(pasynOctetSyncIOipPort_,
+    status = pasynOctetSyncIO->setInputEos(pasynOctetSyncIOipPort(),
                                            message_from_device,
                                            strlen(message_from_device));
     if (status != asynSuccess) {
@@ -109,7 +109,7 @@ turboPmacController::turboPmacController(const char *portName,
                   "(setting input EOS failed with %s).\nTerminating IOC",
                   portName, __PRETTY_FUNCTION__, __LINE__,
                   stringifyAsynStatus(status));
-        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort_);
+        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
         exit(-1);
     }
 
@@ -121,7 +121,7 @@ turboPmacController::turboPmacController(const char *portName,
                   "with %s).\nTerminating IOC",
                   portName, __PRETTY_FUNCTION__, __LINE__,
                   stringifyAsynStatus(status));
-        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort_);
+        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
         exit(-1);
     }
 
@@ -222,13 +222,13 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
 
     if (status == asynTimeout) {
 
-        if (msgPrintControl_.shouldBePrinted(comKey, true, pasynUser())) {
+        if (getMsgPrintControl().shouldBePrinted(comKey, true, pasynUser())) {
             asynPrint(
                 this->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d => %s, line %d\nTimeout while "
                 "writing to the controller. Retrying ...%s\n",
                 portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                msgPrintControl_.getSuffix());
+                getMsgPrintControl().getSuffix());
         }
 
         timeoutStatus = checkComTimeoutWatchdog(axisNo, drvMessageText,
@@ -239,7 +239,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             checkMaxSubsequentTimeouts(timeoutCounter, axis);
             timeoutCounter += 1;
 
-            if (maxSubsequentTimeoutsExceeded_) {
+            if (maxSubsequentTimeoutsExceeded()) {
                 break;
             }
 
@@ -255,16 +255,16 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             }
         }
     } else if (status != asynSuccess) {
-        if (msgPrintControl_.shouldBePrinted(comKey, true, pasynUser())) {
+        if (getMsgPrintControl().shouldBePrinted(comKey, true, pasynUser())) {
             asynPrint(
                 this->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d => %s, line %d\nError %s while "
                 "writing to the controller.%s\n",
                 portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                stringifyAsynStatus(status), msgPrintControl_.getSuffix());
+                stringifyAsynStatus(status), getMsgPrintControl().getSuffix());
         }
     } else {
-        msgPrintControl_.resetCount(comKey, pasynUser());
+        getMsgPrintControl().resetCount(comKey, pasynUser());
     }
 
     if (timeoutStatus == asynError) {
@@ -301,16 +301,17 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                  "string detected\"). Please call the support.",
                  reasonStringified);
 
-        if (msgPrintControl_.shouldBePrinted(terminateKey, true, pasynUser())) {
+        if (getMsgPrintControl().shouldBePrinted(terminateKey, true,
+                                                 pasynUser())) {
 
             asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d => %s, line %d\nMessage "
                       "terminated due to reason %s.%s\n",
                       portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                      reasonStringified, msgPrintControl_.getSuffix());
+                      reasonStringified, getMsgPrintControl().getSuffix());
         }
     } else {
-        msgPrintControl_.resetCount(terminateKey, pasynUser());
+        getMsgPrintControl().resetCount(terminateKey, pasynUser());
     }
 
     /*
@@ -327,15 +328,15 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     if (numExpectedResponses != numReceivedResponses) {
         adjustResponseForPrint(modResponse, response, MAXBUF_);
 
-        if (msgPrintControl_.shouldBePrinted(numResponsesKey, true,
-                                             pasynUser())) {
+        if (getMsgPrintControl().shouldBePrinted(numResponsesKey, true,
+                                                 pasynUser())) {
             asynPrint(
                 this->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d => %s, line %d\nUnexpected "
                 "response '%s' (carriage returns are replaced with spaces) "
                 "for command %s.%s\n",
                 portName, axisNo, __PRETTY_FUNCTION__, __LINE__, modResponse,
-                command, msgPrintControl_.getSuffix());
+                command, getMsgPrintControl().getSuffix());
         }
 
         snprintf(drvMessageText, sizeof(drvMessageText),
@@ -345,7 +346,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                  modResponse, command);
         status = asynError;
     } else {
-        msgPrintControl_.resetCount(numResponsesKey, pasynUser());
+        getMsgPrintControl().resetCount(numResponsesKey, pasynUser());
     }
 
     // Create custom error messages for different failure modes, if no error
@@ -384,15 +385,15 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
         paramLibStatus =
             getIntegerParam(axisNo, motorStatusProblem_, &motorStatusProblem);
         if (paramLibStatus != asynSuccess) {
-            return paramLibAccessFailed(paramLibStatus, "motorStatusProblem_",
+            return paramLibAccessFailed(paramLibStatus, "motorStatusProblem",
                                         axisNo, __PRETTY_FUNCTION__, __LINE__);
         }
 
         if (motorStatusProblem == 0) {
             paramLibStatus =
-                axis->setStringParam(motorMessageText_, drvMessageText);
+                axis->setStringParam(motorMessageText(), drvMessageText);
             if (paramLibStatus != asynSuccess) {
-                return paramLibAccessFailed(paramLibStatus, "motorMessageText_",
+                return paramLibAccessFailed(paramLibStatus, "motorMessageText",
                                             axisNo, __PRETTY_FUNCTION__,
                                             __LINE__);
             }
@@ -407,7 +408,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             paramLibStatus = axis->setIntegerParam(motorStatusProblem_, 1);
             if (paramLibStatus != asynSuccess) {
                 return paramLibAccessFailed(paramLibStatus,
-                                            "motorStatusCommsError_", axisNo,
+                                            "motorStatusCommsError", axisNo,
                                             __PRETTY_FUNCTION__, __LINE__);
             }
         }