diff --git a/Makefile b/Makefile
index a9d4d74..06efa83 100644
--- a/Makefile
+++ b/Makefile
@@ -14,7 +14,7 @@ REQUIRED+=sinqMotor
 motorBase_VERSION=7.2.2
 
 # Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=mathis_s
+sinqMotor_VERSION=0.8.0
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/turboPmacAxis.h
diff --git a/src/turboPmacAxis.cpp b/src/turboPmacAxis.cpp
index a5e3ac1..64ef8b3 100644
--- a/src/turboPmacAxis.cpp
+++ b/src/turboPmacAxis.cpp
@@ -35,7 +35,8 @@ static void epicsInithookFunction(initHookState iState) {
     }
 }
 
-turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo)
+turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
+                             bool initialize)
     : sinqAxis(pC, axisNo), pC_(pC) {
 
     asynStatus status = asynSuccess;
@@ -63,13 +64,17 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo)
         exit(-1);
     }
 
-    // Register the hook function during construction of the first axis object
-    if (axes.empty()) {
-        initHookRegister(&epicsInithookFunction);
-    }
+    if (initialize) {
+        // Register the hook function during construction of the first axis
+        // object
+        if (axes.empty()) {
+            initHookRegister(&epicsInithookFunction);
+        }
 
-    // Collect all axes into this list which will be used in the hook function
-    axes.push_back(this);
+        // Collect all axes into this list which will be used in the hook
+        // function
+        axes.push_back(this);
+    }
 
     // Initialize all member variables
     waitForHandshake_ = false;
@@ -360,39 +365,43 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
-    // Intepret the status
+    // Create the unique callsite identifier manually so it can be used later in
+    // the shouldBePrinted calls.
+    msgPrintControlKey keyStatus = msgPrintControlKey(
+        pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+    bool resetCountStatus = true;
+
+    // Interpret the status
     switch (axStatus) {
     case -6:
+        // Axis is stopping
         *moving = true;
-
-        asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_FLOW,
-            "Controller \"%s\", axis %d  => %s, line %d\nAxis is stopping\n",
-            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         break;
     case -5:
+        // Axis is deactivated
         *moving = false;
 
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
-                  "Controller \"%s\", axis %d  => %s, line %d\nAxis is "
-                  "deactivated\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
-
         pl_status = setStringParam(pC_->motorMessageText_, "Deactivated");
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                              axisNo_, __PRETTY_FUNCTION__,
                                              __LINE__);
         }
-
         break;
     case -4:
+        // Emergency stop
         *moving = false;
 
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d  => %s, line %d\nEmergency stop "
-                  "activated\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+        if (pC_->msgPrintControl_.shouldBePrinted(keyStatus, true,
+                                                  pC_->pasynUserSelf)) {
+            asynPrint(
+                pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d  => %s, line %d\nEmergency stop "
+                "activated.%s\n",
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                pC_->msgPrintControl_.getSuffix());
+        }
+        resetCountStatus = false;
 
         pl_status = setStringParam(pC_->motorMessageText_, "Emergency stop");
         if (pl_status != asynSuccess) {
@@ -403,13 +412,9 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
 
         break;
     case -3:
+        // Disabled
         *moving = false;
 
-        asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_FLOW,
-            "Controller \"%s\", axis %d  => %s, line %d\nAxis %d is disabled\n",
-            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_);
-
         pl_status = setStringParam(pC_->motorMessageText_, "Disabled");
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
@@ -419,43 +424,24 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
 
         break;
     case 0:
+        // Idle
         *moving = false;
-
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
-                  "Controller \"%s\", axis %d  => %s, line %d\nAxis is idle\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         break;
     case 1:
+        // Move order acknowledged
         *moving = true;
-
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
-                  "Controller \"%s\", axis %d  => %s, line %d\nMove order "
-                  "acknowledged\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         break;
     case 2:
+        // Move order confirmed possible
         *moving = true;
-
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
-                  "Controller \"%s\", axis %d  => %s, line %d\nMove order is "
-                  "possible\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         break;
     case 3:
+        // Axis in Air Cushion Output status
         *moving = true;
-
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
-                  "Controller \"%s\", axis %d  => %s, line %d\nAxis in Air "
-                  "Cushion Output status\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         break;
     case 4:
+        // Axis in Air Cushion Input status
         *moving = true;
-
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
-                  "Controller \"%s\", axis %d  => %s, line %d\nAxis in Air "
-                  "Cushion Input status\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         break;
     case 5:
         *moving = true;
@@ -469,12 +455,17 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     default:
         *moving = false;
 
-        asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-            "Controller \"%s\", axis %d  => %s, line %d\nReached unreachable "
-            "state P%2.2d00 = %d\n",
-            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
-            axStatus);
+        if (pC_->msgPrintControl_.shouldBePrinted(keyStatus, true,
+                                                  pC_->pasynUserSelf)) {
+
+            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line %d\nReached "
+                      "unreachable state P%2.2d00 = %d.%s\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      axisNo_, axStatus, pC_->msgPrintControl_.getSuffix());
+        }
+        resetCountStatus = false;
+
         snprintf(userMessage, sizeof(userMessage),
                  "Unknown state P%2.2d00 = %d has been reached. Please call "
                  "the support.",
@@ -487,6 +478,10 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         }
     }
 
+    if (resetCountStatus) {
+        pC_->msgPrintControl_.resetCount(keyStatus);
+    }
+
     if (*moving) {
         // If the axis is moving, evaluate the movement direction
         if ((currentPosition - previousPosition) > 0) {
@@ -496,19 +491,30 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         }
     }
 
-    // Error handling
+    // Create the unique callsite identifier manually so it can be used later in
+    // the shouldBePrinted calls.
+    msgPrintControlKey keyError = msgPrintControlKey(
+        pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+    bool resetError = true;
+
     switch (error) {
     case 0:
-        // No error
+        // No error -> Reset the message repetition watchdog
+        pC_->msgPrintControl_.shouldBePrinted(keyError, false,
+                                              pC_->pasynUserSelf);
         break;
     case 1:
         // EPICS should already prevent this issue in the first place,
         // since it contains the user limits
-        asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-            "Controller \"%s\", axis %d  => %s, line %d\nTarget position would "
-            "exceed user limits.\n",
-            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+                                                  pC_->pasynUserSelf)) {
+            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line %d\nTarget "
+                      "position would exceed user limits.%s\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      pC_->msgPrintControl_.getSuffix());
+        }
+        resetError = false;
 
         pl_status = setStringParam(pC_->motorMessageText_,
                                    "Target position would exceed software "
@@ -523,11 +529,17 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         break;
     case 5:
         // Command not possible
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d  => %s, line %d\nAxis is "
-                  "still moving, but received another move command. EPICS "
-                  "should prevent this, check if *moving is set correctly.\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+        if (pC_->msgPrintControl_.shouldBePrinted(keyStatus, true,
+                                                  pC_->pasynUserSelf)) {
+            asynPrint(
+                pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d  => %s, line %d\nAxis is "
+                "still moving, but received another move command. EPICS "
+                "should prevent this, check if *moving is set correctly.%s\n",
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                pC_->msgPrintControl_.getSuffix());
+        }
+        resetError = false;
 
         pl_status = setStringParam(pC_->motorMessageText_,
                                    "Axis received move command while it is "
@@ -541,12 +553,15 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         poll_status = asynError;
         break;
     case 8:
-        asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-            "Controller \"%s\", axis %d  => %s, line %d\nAir cushion feedback "
-            "stopped during movement (P%2.2d01 = %d).\n",
-            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
-            error);
+        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+                                                  pC_->pasynUserSelf)) {
+            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line %d\nAir cushion "
+                      "feedback stopped during movement (P%2.2d01 = %d).%s\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      axisNo_, error, pC_->msgPrintControl_.getSuffix());
+        }
+        resetError = false;
 
         snprintf(userMessage, sizeof(userMessage),
                  "Air cushion feedback stopped during movement (P%2.2d01 = "
@@ -561,11 +576,16 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         }
         break;
     case 9:
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d  => %s, line %d\nNo air cushion "
-                  "feedback before movement start (P%2.2d01 = %d).\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                  axisNo_, error);
+        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+                                                  pC_->pasynUserSelf)) {
+            asynPrint(
+                pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d  => %s, line %d\nNo air cushion "
+                "feedback before movement start (P%2.2d01 = %d).%s\n",
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
+                error, pC_->msgPrintControl_.getSuffix());
+        }
+        resetError = false;
 
         snprintf(userMessage, sizeof(userMessage),
                  "No air cushion feedback before movement start (P%2.2d01 = "
@@ -585,10 +605,17 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         error case can only happen if either the axis has an incremental encoder
         which is not properly homed or if a bug occured.
         */
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d  => %s, line %d\nAxis hit the "
-                  "controller limits.\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+
+        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+                                                  pC_->pasynUserSelf)) {
+            asynPrint(
+                pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d  => %s, line %d\nAxis hit the "
+                "controller limits.%s\n",
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                pC_->msgPrintControl_.getSuffix());
+        }
+        resetError = false;
 
         snprintf(userMessage, sizeof(userMessage),
                  "Software limits or end switch hit (P%2.2d01 = %d). Try "
@@ -608,10 +635,17 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         break;
     case 11:
         // Following error
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d  => %s, line %d\nMaximum allowed "
-                  "following error exceeded.\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+
+        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+                                                  pC_->pasynUserSelf)) {
+            asynPrint(
+                pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d  => %s, line %d\nMaximum allowed "
+                "following error exceeded.%s\n",
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                pC_->msgPrintControl_.getSuffix());
+        }
+        resetError = false;
 
         snprintf(command, sizeof(command),
                  "Maximum allowed following error exceeded (P%2.2d01 = %d). "
@@ -629,6 +663,16 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         break;
 
     case 12:
+        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+                                                  pC_->pasynUserSelf)) {
+            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line %d\nSecurity "
+                      "input is triggered (P%2.2d01 = %d).%s\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      axisNo_, error, pC_->msgPrintControl_.getSuffix());
+        }
+        resetError = false;
+
         snprintf(command, sizeof(command),
                  "Security input is triggered (P%2.2d01 = %d). Check the SPS "
                  "for errors (if available). Otherwise please call "
@@ -646,11 +690,17 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
 
     case 13:
         // Driver hardware error triggered
-        asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-            "Controller \"%s\", axis %d  => %s, line %d\nDriver hardware error "
-            "triggered.\n",
-            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+
+        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+                                                  pC_->pasynUserSelf)) {
+            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line %d\nDriver "
+                      "hardware error triggered.%s\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      pC_->msgPrintControl_.getSuffix());
+        }
+        resetError = false;
+
         snprintf(command, sizeof(command),
                  "Driver hardware error (P%2.2d01 = 13). "
                  "Please call the support.",
@@ -667,12 +717,16 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     case 14:
         // EPICS should already prevent this issue in the first place,
         // since it contains the user limits
-        asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-            "Controller \"%s\", axis %d  => %s, line %d\nMove command exceeds "
-            "hardware limits (P%2.2d01 = %d).\n",
-            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
-            error);
+
+        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+                                                  pC_->pasynUserSelf)) {
+            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line %d\nMove "
+                      "command exceeds hardware limits (P%2.2d01 = %d).%s\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      axisNo_, error, pC_->msgPrintControl_.getSuffix());
+        }
+        resetError = false;
 
         snprintf(userMessage, sizeof(userMessage),
                  "Move command exceeds hardware limits (P%2.2d01 = %d). Please "
@@ -688,11 +742,17 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         poll_status = asynError;
         break;
     default:
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d  => %s, line %d\nUnknown error "
-                  "P%2.2d01 = %d.\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                  axisNo_, error);
+
+        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+                                                  pC_->pasynUserSelf)) {
+            asynPrint(
+                pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d  => %s, line %d\nUnknown error "
+                "P%2.2d01 = %d.%s\n",
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
+                error, pC_->msgPrintControl_.getSuffix());
+        }
+        resetError = false;
 
         snprintf(userMessage, sizeof(userMessage),
                  "Unknown error P%2.2d01 = %d. Please call the support.",
@@ -708,6 +768,10 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         break;
     }
 
+    if (resetError) {
+        pC_->msgPrintControl_.resetCount(keyError);
+    }
+
     // Update the parameter library
     if (error != 0) {
         pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
diff --git a/src/turboPmacAxis.h b/src/turboPmacAxis.h
index c11029a..858c2e6 100644
--- a/src/turboPmacAxis.h
+++ b/src/turboPmacAxis.h
@@ -15,7 +15,8 @@ class turboPmacAxis : public sinqAxis {
      * @param pController         Pointer to the associated controller
      * @param axisNo              Index of the axis
      */
-    turboPmacAxis(turboPmacController *pController, int axisNo);
+    turboPmacAxis(turboPmacController *pController, int axisNo,
+                  bool initialize = true);
 
     /**
      * @brief Destroy the turboPmacAxis
diff --git a/src/turboPmacController.cpp b/src/turboPmacController.cpp
index fe367ad..982f231 100644
--- a/src/turboPmacController.cpp
+++ b/src/turboPmacController.cpp
@@ -133,39 +133,18 @@ Access one of the axes of the controller via the axis adress stored in asynUser.
 If the axis does not exist or is not a Axis, a nullptr is returned and an
 error is emitted.
 */
-turboPmacAxis *turboPmacController::getAxis(asynUser *pasynUser) {
+turboPmacAxis *turboPmacController::getTurboPmacAxis(asynUser *pasynUser) {
     asynMotorAxis *asynAxis = asynMotorController::getAxis(pasynUser);
-    return turboPmacController::castToAxis(asynAxis);
+    return dynamic_cast<turboPmacAxis *>(asynAxis);
 }
 
 /*
 Access one of the axes of the controller via the axis index.
 If the axis does not exist or is not a Axis, the function must return Null
 */
-turboPmacAxis *turboPmacController::getAxis(int axisNo) {
+turboPmacAxis *turboPmacController::getTurboPmacAxis(int axisNo) {
     asynMotorAxis *asynAxis = asynMotorController::getAxis(axisNo);
-    return turboPmacController::castToAxis(asynAxis);
-}
-
-turboPmacAxis *turboPmacController::castToAxis(asynMotorAxis *asynAxis) {
-
-    // =========================================================================
-
-    // If the axis slot of the pAxes_ array is empty, a nullptr must be returned
-    if (asynAxis == nullptr) {
-        return nullptr;
-    }
-
-    // Here, an error is emitted since asyn_axis is not a nullptr but also not
-    // an instance of Axis
-    turboPmacAxis *axis = dynamic_cast<turboPmacAxis *>(asynAxis);
-    if (axis == nullptr) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d => %s, line %d\nAxis is not "
-                  "an instance of turboPmacAxis",
-                  portName, axis->axisNo_, __PRETTY_FUNCTION__, __LINE__);
-    }
-    return axis;
+    return dynamic_cast<turboPmacAxis *>(asynAxis);
 }
 
 asynStatus turboPmacController::writeRead(int axisNo, const char *command,
@@ -204,7 +183,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
 
     // =========================================================================
 
-    turboPmacAxis *axis = getAxis(axisNo);
+    turboPmacAxis *axis = getTurboPmacAxis(axisNo);
     if (axis == nullptr) {
         // We already did the error logging directly in getAxis
         return asynError;
@@ -261,10 +240,6 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     // +1 for the carriage return.
     const size_t fullComandLength = offset + commandLength + 1;
 
-    asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
-              "Controller \"%s\", axis %d => %s, line %d\nSending command %s",
-              portName, axisNo, __PRETTY_FUNCTION__, __LINE__, fullCommand);
-
     /*
     We use separated write and read commands here, not the combined writeRead
     method, because the latter is actually a flushWriteRead (see
@@ -282,12 +257,19 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     status = pasynOctetSyncIO->write(lowLevelPortUser_, fullCommand,
                                      fullComandLength, comTimeout_, &nbytesOut);
 
+    msgPrintControlKey writeKey =
+        msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+
     if (status == asynTimeout) {
 
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d => %s, line %d\nTimeout while "
-                  "writing to the MCU\n",
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+        if (msgPrintControl_.shouldBePrinted(writeKey, true, pasynUserSelf)) {
+            asynPrint(
+                this->pasynUserSelf, ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d => %s, line %d\nTimeout while "
+                "writing to the MCU.%s\n",
+                portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                msgPrintControl_.getSuffix());
+        }
 
         timeoutStatus = checkComTimeoutWatchdog(axisNo, drvMessageText,
                                                 sizeof(drvMessageText));
@@ -309,23 +291,35 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             }
         }
     } else if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d => %s, line %d\nError %s while "
-                  "writing to the controller\n",
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                  stringifyAsynStatus(status));
+        if (msgPrintControl_.shouldBePrinted(writeKey, true, pasynUserSelf)) {
+            asynPrint(
+                this->pasynUserSelf, 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());
+        }
+    } else {
+        msgPrintControl_.resetCount(writeKey);
     }
 
     // Read the response from the MCU buffer
     status = pasynOctetSyncIO->read(lowLevelPortUser_, response, MAXBUF_,
                                     comTimeout_, &nbytesIn, &eomReason);
 
+    msgPrintControlKey readKey =
+        msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+
     if (status == asynTimeout) {
 
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d => %s, line %d\nTimeout while "
-                  "reading from the MCU\n",
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+        if (msgPrintControl_.shouldBePrinted(readKey, true, pasynUserSelf)) {
+            asynPrint(
+                this->pasynUserSelf, ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d => %s, line %d\nTimeout while "
+                "reading from the MCU.%s\n",
+                portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                msgPrintControl_.getSuffix());
+        }
 
         // Add this event to the back of the timeout event counter
         timeoutStatus = checkComTimeoutWatchdog(axisNo, drvMessageText,
@@ -348,11 +342,16 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             }
         }
     } else if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d => %s, line %d\nError %s while "
-                  "reading from the controller\n",
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                  stringifyAsynStatus(status));
+        if (msgPrintControl_.shouldBePrinted(readKey, true, pasynUserSelf)) {
+            asynPrint(
+                this->pasynUserSelf, ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d => %s, line %d\nError %s while "
+                "reading from the controller.%s\n",
+                portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                stringifyAsynStatus(status), msgPrintControl_.getSuffix());
+        }
+    } else {
+        msgPrintControl_.resetCount(readKey);
     }
 
     if (timeoutStatus == asynError) {
@@ -360,6 +359,8 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     }
 
     // The message should only ever terminate due to reason 2
+    msgPrintControlKey terminateKey =
+        msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
     if (eomReason != 2) {
         status = asynError;
 
@@ -367,10 +368,16 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                  "Terminated message due to reason %d (should be 2).",
                  eomReason);
 
-        asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
-                  "Controller \"%s\", axis %d => %s, line %d\nMessage "
-                  "terminated due to reason %i\n",
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__, eomReason);
+        if (msgPrintControl_.shouldBePrinted(terminateKey, true,
+                                             pasynUserSelf)) {
+            asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d => %s, line %d\nMessage "
+                      "terminated due to reason %i.%s\n",
+                      portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                      eomReason, msgPrintControl_.getSuffix());
+        }
+    } else {
+        msgPrintControl_.resetCount(terminateKey);
     }
 
     /*
@@ -382,20 +389,30 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             numReceivedResponses++;
         }
     }
+    msgPrintControlKey numResponsesKey =
+        msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
     if (numExpectedResponses != numReceivedResponses) {
         adjustResponseForPrint(modResponse, response, MAXBUF_);
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d => %s, line %d\nUnexpected "
-                  "response '%s' (carriage returns are replaced with spaces) "
-                  "for command %s\n",
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__, modResponse,
-                  command);
+
+        if (msgPrintControl_.shouldBePrinted(numResponsesKey, true,
+                                             pasynUserSelf)) {
+            asynPrint(
+                this->pasynUserSelf, 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());
+        }
+
         snprintf(drvMessageText, sizeof(drvMessageText),
                  "Received unexpected response '%s' (carriage returns "
                  "are replaced with spaces) for command %s. "
                  "Please call the support",
                  modResponse, command);
         status = asynError;
+    } else {
+        msgPrintControl_.resetCount(numResponsesKey);
     }
 
     // Create custom error messages for different failure modes, if no error
@@ -425,23 +442,12 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
 
     // Log the overall status (communication successfull or not)
     if (status == asynSuccess) {
-
-        asynPrint(lowLevelPortUser_, ASYN_TRACEIO_DRIVER,
-                  "Controller \"%s\", axis %d => %s, line %d\nDevice "
-                  "response: %s (carriage returns are replaced with spaces)\n",
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__, modResponse);
         paramLibStatus = axis->setIntegerParam(this->motorStatusCommsError_, 0);
     } else {
-        asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d => %s, line %d\nCommunication "
-                  "failed for command %s (%s)\n",
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__, fullCommand,
-                  stringifyAsynStatus(status));
-
-        // Check if the axis already is in an error communication mode. If it is
-        // not, upstream the error. This is done to avoid "flooding" the user
-        // with different error messages if more than one error ocurred before
-        // an error-free communication
+        // Check if the axis already is in an error communication mode. If
+        // it is not, upstream the error. This is done to avoid "flooding"
+        // the user with different error messages if more than one error
+        // ocurred before an error-free communication
         paramLibStatus =
             getIntegerParam(axisNo, motorStatusProblem_, &motorStatusProblem);
         if (paramLibStatus != asynSuccess) {
@@ -482,11 +488,7 @@ asynStatus turboPmacController::writeInt32(asynUser *pasynUser,
 
     // =====================================================================
 
-    turboPmacAxis *axis = getAxis(pasynUser);
-    if (axis == nullptr) {
-        // We already did the error logging directly in getAxis
-        return asynError;
-    }
+    turboPmacAxis *axis = getTurboPmacAxis(pasynUser);
 
     // Handle custom PVs
     if (function == rereadEncoderPosition_) {
@@ -538,8 +540,8 @@ asynStatus turboPmacCreateController(const char *portName,
     https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/asynMotorController.cpp
     https://github.com/epics-modules/asyn/blob/master/asyn/asynPortDriver/asynPortDriver.cpp
 
-    The created object is registered in EPICS in its constructor and can safely
-    be "leaked" here.
+    The created object is registered in EPICS in its constructor and can
+    safely be "leaked" here.
     */
 #pragma GCC diagnostic ignored "-Wunused-but-set-variable"
 #pragma GCC diagnostic ignored "-Wunused-variable"
@@ -578,8 +580,8 @@ static void configTurboPmacCreateControllerCallFunc(const iocshArgBuf *args) {
                               args[3].dval, args[4].dval, args[5].dval);
 }
 
-// This function is made known to EPICS in turboPmac.dbd and is called by EPICS
-// in order to register both functions in the IOC shell
+// This function is made known to EPICS in turboPmac.dbd and is called by
+// EPICS in order to register both functions in the IOC shell
 static void turboPmacControllerRegister(void) {
     iocshRegister(&configTurboPmacCreateController,
                   configTurboPmacCreateControllerCallFunc);
diff --git a/src/turboPmacController.h b/src/turboPmacController.h
index b0f8824..ab913ad 100644
--- a/src/turboPmacController.h
+++ b/src/turboPmacController.h
@@ -40,7 +40,7 @@ class turboPmacController : public sinqController {
      * @return turboPmacAxis*        If no axis could be found, this is a
      * nullptr
      */
-    turboPmacAxis *getAxis(asynUser *pasynUser);
+    turboPmacAxis *getTurboPmacAxis(asynUser *pasynUser);
 
     /**
      * @brief Get the axis object
@@ -49,18 +49,18 @@ class turboPmacController : public sinqController {
      * @return turboPmacAxis*        If no axis could be found, this is a
      * nullptr
      */
-    turboPmacAxis *getAxis(int axisNo);
+    turboPmacAxis *getTurboPmacAxis(int axisNo);
 
     /**
      * @brief Overloaded function of sinqController
      *
-     * The function is overloaded in order to read motorCanDisable_
+     * The function is overloaded in order to read motorCanDisable_.
      *
      * @param pasynUser
      * @param value
      * @return asynStatus
      */
-    asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
+    virtual asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
 
     /**
      * @brief Overloaded function of sinqController
@@ -71,7 +71,7 @@ class turboPmacController : public sinqController {
      * @param value               New value
      * @return asynStatus
      */
-    asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
+    virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
 
   protected:
     asynUser *lowLevelPortUser_;
@@ -95,15 +95,6 @@ class turboPmacController : public sinqController {
     asynStatus writeRead(int axisNo, const char *command, char *response,
                          int numExpectedResponses);
 
-    /**
-     * @brief Save cast of the given asynAxis pointer to a turboPmacAxis
-     * pointer. If the cast fails, this function returns a nullptr.
-     *
-     * @param asynAxis
-     * @return turboPmacAxis*
-     */
-    turboPmacAxis *castToAxis(asynMotorAxis *asynAxis);
-
     /**
      * @brief Specialized version of sinqController::errMsgCouldNotParseResponse
      * for turboPmac