diff --git a/sinqMotor b/sinqMotor
index 31ff26c..603b3e7 160000
--- a/sinqMotor
+++ b/sinqMotor
@@ -1 +1 @@
-Subproject commit 31ff26cb786203fc9795767205d8e08fd9e75ba2
+Subproject commit 603b3e77afcffbaa91ae42272a5b8687286f9c68
diff --git a/src/turboPmacAxis.cpp b/src/turboPmacAxis.cpp
index 155b9dd..d3bb896 100644
--- a/src/turboPmacAxis.cpp
+++ b/src/turboPmacAxis.cpp
@@ -194,6 +194,8 @@ asynStatus turboPmacAxis::init() {
     }
 
     // Initial motor status is idle
+    setAxisParamChecked(this, motorStatusDone, 1);
+
     status = pC_->setIntegerParam(axisNo_, pC_->motorStatusDone(), 1);
     if (status != asynSuccess) {
         return pC_->paramLibAccessFailed(status, "motorStatusDone_", axisNo_,
diff --git a/src/turboPmacAxis.h b/src/turboPmacAxis.h
index ea215bc..38bb445 100644
--- a/src/turboPmacAxis.h
+++ b/src/turboPmacAxis.h
@@ -142,6 +142,11 @@ class turboPmacAxis : public sinqAxis {
      */
     void setNeedInit(bool needInit);
 
+    /**
+     * @brief Return a pointer to the axis controller
+     */
+    turboPmacController *pController() override { return pC_; };
+
   private:
     turboPmacController *pC_;
     std::unique_ptr<turboPmacAxisImpl> pTurboPmacA_;