Use safe limit setter function from sinqMotor

Reviewed-on: #1

README.md

@@ -94,3 +94,39 @@ repository is checked out AND the change is commited (`git status` shows no
 non-committed changes). Please see the section "Usage as static dependency" in
 https://gitea.psi.ch/lin-epics-modules/sinqMotor/src/branch/main/README.md for
 more details.
+
+## FAQ
+### Axis hardware error at startup
+
+If at IOC startup you are met with the following errors:
+```
+2026/02/02 16:56:49.470 Controller "turboPmac1", axis 3  => asynStatus turboPmacAxis::handleError(int, char*, int), line 735
+Driver hardware error triggered.
+2026/02/02 16:56:49.485 Controller "turboPmac1", axis 7  => asynStatus turboPmacAxis::handleError(int, char*, int), line 735
+Driver hardware error triggered.
+2026/02/02 16:56:49.492 Controller "turboPmac1", axis 8  => asynStatus turboPmacAxis::handleError(int, char*, int), line 735
+Driver hardware error triggered.
+```
+You may need to reset to do a axis reset. This can be done with 
+`utils/writeRead.py`. The following example does so for axis 3.
+
+Confirm the hardware error:
+```
+utils/writeRead.py 172.28.87.24:1025 P0301 # 03 specifies axis 3, 01 is the command to read out the error.
+# If it returns 13 it's a hardware error.
+# For the full list of errors see TurboPMAC_manual.pdf or src/turboPmacAxis.cpp, function "handleError".
+```
+Reset the axis:
+```
+utils/writeRead.py 172.28.87.24:1025 P0301=0
+```
+Check if the error has appeared again:
+```
+utils/writeRead.py 172.28.87.24:1025 P0301
+```
+If the console output is not 0, the error has been deleted, but appeared
+immediately again. In this case, the error cannot be reset remotely.
+If it is an error such as 10 (limit switches hit), the motor needs to be
+moved away from the limits, this resets the error automatically.
+Other errors like 13 represent an actual issue on the hardware which
+needs to be resolved by the electronics motion engineers.

src/turboPmacAxis.cpp

@@ -218,7 +218,7 @@ asynStatus turboPmacAxis::init() {
     // here to mm/s^2.
     motorAccel = motorAccel * 1000;
 
-    if (nvals != 8) {
+    if (nvals != 7) {
         return pC_->couldNotParseResponse(command, response, axisNo_,
                                           __PRETTY_FUNCTION__, __LINE__);
     }
@@ -582,8 +582,10 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     getAxisParamChecked(this, limFromHardware, &limFromHardware);
 
     if (limFromHardware != 0) {
-        setAxisParamChecked(this, motorHighLimitFromDriver, highLimit);
+        status = setLimits(highLimit, lowLimit);
-        setAxisParamChecked(this, motorLowLimitFromDriver, lowLimit);
+        if (status != asynSuccess) {
+            return status;
+        }
     }
 
     status = setMotorPosition(currentPosition);