Updated to sinqMotor 1.7.0 for disconnect handlingwq!

The correct scale from counts to engeering units is Qxx00.

.gitea/workflows/action.yaml

@@ -0,0 +1,24 @@
+name: Test And Build
+on: [push]
+
+jobs:
+  Lint:
+    runs-on: linepics
+    steps:
+      - name: checkout repo
+        uses: actions/checkout@v4
+      - name: cppcheck
+        run: cppcheck --std=c++17 --addon=cert --addon=misc --error-exitcode=1 src/*.cpp
+      - name: formatting
+        run: clang-format --style=file --Werror --dry-run src/*.cpp
+  Build:
+    runs-on: linepics
+    steps:
+      - name: checkout repo
+        uses: actions/checkout@v4
+        with:
+          submodules: 'true'
+      - run: |
+          sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
+          echo -e "\nIGNORE_SUBMODULES += sinqmotor" >> Makefile
+          make install

.gitignore

@@ -0,0 +1,8 @@
+O.*
+.cvsignore
+.vscode
+src/.vscode
+utils/analyzeTcpDump/__pycache__
+utils/analyzeTcpDump/demo.pcap.json
+utils/analyzeTcpDump/demovenv
+utils/analyzeTcpDump/venv

.gitlab-ci.yml

@@ -1,58 +0,0 @@
-default:
-  image: docker.psi.ch:5000/sinqdev/sinqepics:latest
-    
-stages:
-  - lint
-  - build
-  - test
-
-cppcheck:
-  stage: lint
-  script:
-    - cppcheck --std=c++17 --addon=cert --addon=misc --error-exitcode=1 src/*.cpp
-  artifacts:
-    expire_in: 1 week
-  tags:
-    - sinq
-
-formatting:
-  stage: lint
-  script:
-    - clang-format --style=file --Werror --dry-run src/*.cpp
-  artifacts:
-    expire_in: 1 week
-  tags:
-    - sinq
-
-# clangtidy:
-#   stage: lint
-#   script:
-#     - curl https://docker.psi.ch:5000/v2/_catalog
-# #     - dnf update -y
-# #     - dnf install -y clang-tools-extra
-# #     - clang-tidy sinqEPICSApp/src/*.cpp sinqEPICSApp/src/*.c sinqEPICSApp/src/*.h -checks=cppcoreguidelines-*,cert-*
-# #   tags:
-# #     - sinq
-
-build_module:
-  stage: build
-  script:
-    - export SINQMOTOR_VERSION="$(grep 'sinqMotor_VERSION=' Makefile | cut -d= -f2)"
-    - git clone --depth 1 --branch "${SINQMOTOR_VERSION}" https://gitlab-ci-token:${CI_JOB_TOKEN}@git.psi.ch/sinq-epics-modules/sinqmotor.git
-    - pushd sinqmotor
-    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
-    - echo "LIBVERSION=${SINQMOTOR_VERSION}" >> Makefile
-    - make install
-    - popd
-    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
-    - echo "LIBVERSION=${CI_COMMIT_TAG:-0.0.1}" >> Makefile
-    - make install
-    - cp -rT "/ioc/modules/turboPmac/$(ls -U /ioc/modules/turboPmac/ | head -1)" "./turboPmac-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
-  artifacts:
-    name: "turboPmac-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
-    paths:
-      - "turboPmac-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}/*"
-    expire_in: 1 week
-  when: always
-  tags:
-    - sinq

Makefile

@@ -34,4 +34,5 @@ TEMPLATES += db/turboPmac.db
 DBDS += sinqMotor/src/sinqMotor.dbd
 DBDS += src/turboPmac.dbd
 
-USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings
+USR_CFLAGS += -Wall -Wextra -Wunused-result -Werror -fvisibility=hidden # -Wpedantic // Does not work because EPICS macros trigger warnings
+USR_CXXFLAGS += -Wall -Wextra -Wunused-result -Werror -fvisibility=hidden 

README.md

@@ -1,18 +1,29 @@
 # turboPmac
 
-## <span style="color:red">Please read the documentation of sinqMotor first: https://git.psi.ch/sinq-epics-modules/sinqmotor</span>
+## <span style="color:red">Please read the documentation of sinqMotor first: https://gitea.psi.ch/lin-epics-modules/sinqMotor</span>
 
 ## Overview
 
-This is a driver for the Turbo PMAC motion controller with the SINQ communication protocol. It is based on the sinqMotor shared library (https://gitea.psi.ch/lin-epics-modules/sinqMotor). The header files contain detailed documentation for all public functions. The headers themselves are exported when building the library to allow other drivers to depend on this one.
+This is a driver for the Turbo PMAC motion controller with the SINQ
+communication protocol. It is based on the sinqMotor shared library
+(https://gitea.psi.ch/lin-epics-modules/sinqMotor). The header files contain
+detailed documentation for all public functions. The headers themselves are
+exported when building the library to allow other drivers to depend on this one.
 
 ## User guide
 
-This driver is a standard sinqMotor-derived which however uses a special low level IP Port driver (`pmacAsynIPPortConfigure`) instead of the standard `drvAsynIPPortConfigure`. For the general configuration, please see https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
+This driver is a standard sinqMotor-derived which however uses a special low
+level IP Port driver (`pmacAsynIPPortConfigure`) instead of the standard
+`drvAsynIPPortConfigure`. For the general configuration, please see
+https://gitea.psi.ch/lin-epics-modules/sinqMotor/src/branch/main/README.md.
 
-The folder "utils" contains utility scripts for working with pmac motor controllers. To read their manual, run the scripts without any arguments.
+The folder "utils" contains utility scripts for working with pmac motor
-- writeRead.py: Allows sending commands to and receiving commands from a pmac controller over an ethernet connection.
+controllers. To read their manual, run the scripts without any arguments.
-- analyzeTcpDump.py: Parse the TCP communication between an IOC and a MCU and format it into a dictionary. "demo.py" shows how this data can be easily visualized for analysis.
+- writeRead.py: Allows sending commands to and receiving commands from a pmac
+controller over an ethernet connection.
+- analyzeTcpDump.py: Parse the TCP communication between an IOC and a MCU and
+format it into a dictionary. "demo.py" shows how this data can be easily
+visualized for analysis.
 
 ### IOC startup script
 
@@ -22,13 +33,15 @@ turboPmac exports the following IOC shell functions:
 
 The full turboPmacX.cmd file looks like this:
 
-```
+```bash
 # Define the name of the controller and the corresponding port
 epicsEnvSet("DRIVER_PORT","turboPmacX")
 epicsEnvSet("IP_PORT","p$(DRIVER_PORT)")
 
-# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name.
+# Create the TCP/IP socket used to talk with the controller. The socket can be
-# We do not use the standard asyn port driver here, but a PMAC-specific one which enables the usage of StreamDevices for
+# adressed from within the IOC shell via the port name.
+# We do not use the standard asyn port driver here, but a PMAC-specific one
+# which enables the usage of StreamDevices for
 # communicating with the controller directly.
 pmacAsynIPPortConfigure("$(IP_PORT)","172.28.101.24:1025")
 
@@ -48,7 +61,8 @@ turboPmacAxis("$(DRIVER_PORT)",5);
 # Set the number of subsequent timeouts 
 setMaxSubsequentTimeouts("$(DRIVER_PORT)", 20);
 
-# Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed in 300 seconds before an alarm message is sent.
+# Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed
+# in 300 seconds before an alarm message is sent.
 setThresholdComTimeout("$(DRIVER_PORT)", 300, 10);
 
 # Parametrize the EPICS record database with the substitution file named after the MCU.
@@ -61,14 +75,22 @@ dbLoadRecords("$(turboPmac_DB)/asynRecord.db","P=$(INSTR)$(DRIVER_PORT),PORT=$(I
 
 ### Additional records
 
-`turboPmac` provides a variety of additional records. See `db/turboPmac.db` for the complete list and the documentation.
+`turboPmac` provides a variety of additional records. See `db/turboPmac.db` for
+the complete list and the documentation.
 
 ## Developer guide
 
 ### Versioning
 
-Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
+Please see the documentation for the module sinqMotor:
+https://gitea.psi.ch/lin-epics-modules/sinqMotor/src/branch/main/README.md.
 
 ### How to build it
 
-This driver can be compiled and installed by running `make install` from the same directory where the Makefile is located. However, since it uses the git submodule sinqMotor, make sure that the correct version of the submodule 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://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md for more details.
+This driver can be compiled and installed by running `make install` from the
+same directory where the Makefile is located. However, since it uses the git
+submodule sinqMotor, make sure that the correct version of the submodule
+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.

src/pmacAsynIPPort.c

@@ -230,8 +230,7 @@ static asynStatus sendPmacGetBuffer(pmacPvt *pPmacPvt, asynUser *pasynUser,
 
 // =============================================================================
 
-epicsShareFunc int pmacAsynIPPortConfigure(const char *portName,
+int pmacAsynIPPortConfigure(const char *portName, const char *hostInfo) {
-                                           const char *hostInfo) {
     asynStatus status = asynSuccess;
     asynInterface *int32LowerLevelInterface = NULL;
     asynInterface *octetLowerLevelInterface = NULL;

src/pmacAsynIPPort.h

@@ -2,6 +2,7 @@
 #define asynInterposePmac_H
 
 #include <epicsExport.h>
+#include <macros.h>
 #include <shareLib.h>
 
 /*
@@ -25,8 +26,7 @@ extern "C" {
  * 172.23.243.156:1025)
  * @return status
  */
-epicsShareFunc int pmacAsynIPPortConfigure(const char *portName,
+int HIDDEN pmacAsynIPPortConfigure(const char *portName, const char *hostInfo);
-                                           const char *hostInfo);
 
 #ifdef __cplusplus
 }

src/turboPmacAxis.cpp

@@ -15,6 +15,14 @@
 
 struct turboPmacAxisImpl {
     bool waitForHandshake;
+    /*
+    This flag is set to true, if the controller is currently enabling /
+    disabling the motor and false otherwise. This flag is used in the doPoll
+    method to check if the enableRBV PV should be set or not in order to prevent
+    a premature change of state (controller reports that the motor is already
+    enabled / disabled while it is not ready yet to receive new commands).
+    */
+    bool enableDisable;
     time_t timeAtHandshake;
     // The axis status is used when enabling / disabling the motor
     int axisStatus;
@@ -62,11 +70,13 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
         axes.push_back(this);
     }
 
-    pTurboPmacA_ = std::make_unique<turboPmacAxisImpl>(
+    pTurboPmacA_ = std::make_unique<turboPmacAxisImpl>((turboPmacAxisImpl){
-        (turboPmacAxisImpl){.waitForHandshake = false,
+        .waitForHandshake = false,
+        .enableDisable = false,
         .timeAtHandshake = 0,
         .axisStatus = 0,
-                            .needInit = false});
+        .needInit = false,
+    });
 
     // Provide initial values for some parameter library entries
     status = pC_->setIntegerParam(axisNo_, pC_->rereadEncoderPosition(), 0);
@@ -123,9 +133,16 @@ asynStatus turboPmacAxis::init() {
     double motorVelocity = 0.0;
     double motorVmax = 0.0;
     double motorAccel = 0.0;
-    int acoDelay = 0.0; // Offset time for the movement watchdog caused by
+
-                        // the air cushions in milliseconds.
+    // Conversion factor between engineering units (EU) and encoder counts
-    int axStatus = 0;
+    double counts_to_eu = 0.0;
+
+    // Deadband in counts. Can be a fraction of a count, hence double.
+    double deadband_counts = 0.0;
+
+    // Offset time for the movement watchdog caused by the air cushions in
+    // milliseconds.
+    int acoDelay = 0.0;
 
     // The parameter library takes some time to be initialized. Therefore we
     // wait until the status is not asynParamUndefined anymore.
@@ -154,27 +171,46 @@ asynStatus turboPmacAxis::init() {
 
     /*
     Read out the axis status, the current position, current and maximum speed,
-    acceleration and the air cushion delay.
+    acceleration, the air cushion delay, the scaling factor between counts and
+    engineering units ([Qxx00] = engineering units / counts) and the deadband
+    Ixx65.
     */
     snprintf(command, sizeof(command),
-             "P%2.2d00 Q%2.2d10 Q%2.2d03 Q%2.2d04 Q%2.2d06 P%2.2d22", axisNo_,
+             "Q%2.2d10 Q%2.2d03 Q%2.2d04 Q%2.2d06 P%2.2d22 Q%2.2d00 I%2.2d65",
-             axisNo_, axisNo_, axisNo_, axisNo_, axisNo_);
+             axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_);
-    status = pC_->writeRead(axisNo_, command, response, 6);
+    status = pC_->writeRead(axisNo_, command, response, 7);
+
+    msgPrintControlKey keyDisconnected = msgPrintControlKey(
+        pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, 1);
+
     if (status != asynSuccess) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyDisconnected, true,
+                                                      pC_->pasynUser())) {
             asynPrint(
                 pC_->pasynUser(), ASYN_TRACE_ERROR,
-            "Controller \"%s\", axis %d => %s, line %d\nCould not communicate "
+                "Controller \"%s\", axis %d => %s, line %d\nCould not "
-            "with controller during IOC initialization. Check if you used "
+                "communicate with controller during IOC initialization (error "
-            "\"pmacAsynIPPortConfigure\" instead of the standard "
+                "%s). Did you use \"drvAsynIPPortConfigure\" instead of "
-            "\"drvAsynIPPortConfigure\" function in the .cmd file in order to "
+                "\"pmacAsynIPPortConfigure\" in the .cmd file to create the "
-            "create the port driver.\n",
+                "port driver?\n",
-            pC_->portName, axisNo(), __PRETTY_FUNCTION__, __LINE__);
+                pC_->portName, axisNo(), __PRETTY_FUNCTION__, __LINE__,
-        pTurboPmacA_->needInit = true;
+                pC_->stringifyAsynStatus(status));
+        }
+        pTurboPmacA_->needInit = true;
+        return status;
     }
-    nvals = sscanf(response, "%d %lf %lf %lf %lf %d", &axStatus, &motorPos,
-                   &motorVmax, &motorVelocity, &motorAccel, &acoDelay);
 
-    // The acoDelay is given in milliseconds -> Convert to seconds, rounded up
+    // No error has been detected -> Reset the error count
+    if (status == asynSuccess) {
+        pC_->getMsgPrintControl().resetCount(keyDisconnected, pC_->pasynUser());
+    }
+
+    nvals = sscanf(response, "%lf %lf %lf %lf %d %lf %lf", &motorPos,
+                   &motorVmax, &motorVelocity, &motorAccel, &acoDelay,
+                   &counts_to_eu, &deadband_counts);
+
+    // The acoDelay is given in milliseconds -> Convert to seconds, rounded
+    // up
     setOffsetMovTimeout(std::ceil(acoDelay / 1000.0));
 
     // The PMAC electronic specifies the acceleration in m/s^2. Since we
@@ -182,7 +218,7 @@ asynStatus turboPmacAxis::init() {
     // here to mm/s^2.
     motorAccel = motorAccel * 1000;
 
-    if (nvals != 6) {
+    if (nvals != 8) {
         return pC_->couldNotParseResponse(command, response, axisNo_,
                                           __PRETTY_FUNCTION__, __LINE__);
     }
@@ -206,14 +242,35 @@ asynStatus turboPmacAxis::init() {
         return status;
     }
 
+    /*
+    Check if the new target position is within the range current position
+    +/- deadband. If that is the case, no movement command should be sent.
+    This functionality is implemented within the motor record itself, we
+    just need to populate the field SPDP (see record PushSPDB2Field in
+    db/turboPmac.db)
+
+    First, the deadband is read out (Ixx65, see Turbo PMAC User Manual, p.
+    160). This value then needs to be converted into counts (by dividing it
+    by 16). After words, the deadband in counts then need to be converted
+    into engineering units. For this, the scaling factor Qxx10 needs to be
+    applied (see SINQ_2G_MCU_SW_manual_rev7, p. 17): [Qxx10] = engineering
+    units (eu) / counts deadband_eu = Qxx10 * Ixx65 / 16
+
+    The values of Qxx10 and Ixx65 are read out during initialization and are
+    assumed to not change during operation.
+    */
+    setAxisParamChecked(this, motorPositionDeadband,
+                        counts_to_eu * deadband_counts / 16.0);
+
     // Update the parameter library immediately
     status = callParamCallbacks();
     if (status != asynSuccess) {
-        // If we can't communicate with the parameter library, it doesn't make
+        // If we can't communicate with the parameter library, it doesn't
-        // sense to try and upstream this to the user -> Just log the error
+        // make sense to try and upstream this to the user -> Just log the
-        asynPrint(
+        // error
-            pC_->pasynUser(), ASYN_TRACE_ERROR,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-            "Controller \"%s\", axis %d  => %s, line %d\ncallParamCallbacks "
+                  "Controller \"%s\", axis %d  => %s, line "
+                  "%d\ncallParamCallbacks "
                   "failed with %s.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                   pC_->stringifyAsynStatus(status));
@@ -253,9 +310,6 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     double lowLimit = 0.0;
     double limitsOffset = 0.0;
 
-    // Was the axis idle during the previous poll?
-    int previousStatusDone = 1;
-
     // =========================================================================
 
     if (pTurboPmacA_->needInit) {
@@ -304,13 +358,13 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         }
 
         if (error != 0) {
-            // If an error occurred while waiting for the handshake, abort the
+            // If an error occurred while waiting for the handshake, abort
-            // waiting procedure and continue with the poll in order to handle
+            // the waiting procedure and continue with the poll in order to
-            // the error.
+            // handle the error.
             pTurboPmacA_->waitForHandshake = false;
         } else if (handshakePerformed == 1) {
-            // Handshake has been performed successfully -> Continue with the
+            // Handshake has been performed successfully -> Continue with
-            // poll
+            // the poll
             pTurboPmacA_->waitForHandshake = false;
         } else {
             // Still waiting for the handshake - try again in the next busy
@@ -332,8 +386,6 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         return status;
     }
 
-    getAxisParamChecked(this, motorStatusDone, &previousStatusDone);
-
     // Query the axis status
     snprintf(command, sizeof(command),
              "P%2.2d00 Q%2.2d10 P%2.2d01 Q%2.2d13 Q%2.2d14", axisNo_, axisNo_,
@@ -352,15 +404,16 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
 
     /*
     The axis limits are set as: ({[]})
-    where [] are the positive and negative limits set in EPICS/NICOS, {} are the
+    where [] are the positive and negative limits set in EPICS/NICOS, {} are
-    software limits set on the MCU and () are the hardware limit switches. In
+    the software limits set on the MCU and () are the hardware limit
-    other words, the EPICS/NICOS limits should be stricter than the software
+    switches. In other words, the EPICS/NICOS limits should be stricter than
-    limits on the MCU which in turn should be stricter than the hardware limit
+    the software limits on the MCU which in turn should be stricter than the
-    switches. For example, if the hardware limit switches are at [-10, 10], the
+    hardware limit switches. For example, if the hardware limit switches are
-    software limits could be at [-9, 9] and the EPICS / NICOS limits could be at
+    at [-10, 10], the software limits could be at [-9, 9] and the EPICS /
+    NICOS limits could be at
     [-8, 8]. Therefore, we cannot use the software limits read from the MCU
-    directly, but need to shrink them a bit. In this case, we're shrinking them
+    directly, but need to shrink them a bit. In this case, we're shrinking
-    by limitsOffset on both sides.
+    them by limitsOffset on both sides.
     */
     getAxisParamChecked(this, motorLimitsOffset, &limitsOffset);
     highLimit = highLimit - limitsOffset;
@@ -369,12 +422,15 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     // Store the axis status
     pTurboPmacA_->axisStatus = axStatus;
 
-    // Update the enablement PV
+    // Update the enablement PV, if we are not in the middle of a enabling /
+    // disabling procedure.
+    if (!(pTurboPmacA_->enableDisable)) {
         setAxisParamChecked(this, motorEnableRBV,
                             (axStatus != -3 && axStatus != -5));
+    }
 
-    // Create the unique callsite identifier manually so it can be used later in
+    // Create the unique callsite identifier manually so it can be used
-    // the shouldBePrinted calls.
+    // later in the shouldBePrinted calls.
     msgPrintControlKey keyStatus = msgPrintControlKey(
         pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
     bool resetCountStatus = true;
@@ -395,9 +451,9 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
 
         if (pC_->getMsgPrintControl().shouldBePrinted(keyStatus, true,
                                                       pC_->pasynUser())) {
-            asynPrint(
+            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                pC_->pasynUser(), ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line "
-                "Controller \"%s\", axis %d  => %s, line %d\nEmergency stop "
+                      "%d\nEmergency stop "
                       "activated.%s\n",
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                       pC_->getMsgPrintControl().getSuffix());
@@ -470,8 +526,8 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         *moving = false;
         break;
     case 15:
-        // Move is interrupted, but the motor is not ready to receive another
+        // Move is interrupted, but the motor is not ready to receive
-        // move command. Therefore it is treated as still moving.
+        // another move command. Therefore it is treated as still moving.
         *moving = true;
         break;
     case 16:
@@ -514,11 +570,6 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
 
     errorStatus = handleError(error, userMessage, sizeof(userMessage));
 
-    // Update the parameter library
-    if (error != 0) {
-        setAxisParamChecked(this, motorStatusProblem, true);
-    }
-
     if (*moving == false) {
         setAxisParamChecked(this, motorMoveToHome, false);
     }
@@ -546,11 +597,6 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                                       int sizeUserMessage) {
     asynStatus status = asynError;
 
-    // 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__);
-
     switch (error) {
     case 0:
         status = asynSuccess;
@@ -559,7 +605,8 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
     case 1:
         // EPICS should already prevent this issue in the first place,
         // since it contains the user limits
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
                 pC_->pasynUser())) {
             asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d  => %s, line %d\nTarget "
@@ -572,13 +619,14 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         break;
     case 5:
         // Command not possible
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
                 pC_->pasynUser())) {
-            asynPrint(
+            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                pC_->pasynUser(), 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",
+                      "should prevent this, check if *moving is set "
+                      "correctly.%s\n",
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                       pC_->getMsgPrintControl().getSuffix());
         }
@@ -587,46 +635,53 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                             "moving. Please call the support.");
         break;
     case 8:
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
                 pC_->pasynUser())) {
-            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+            asynPrint(
-                      "Controller \"%s\", axis %d  => %s, line %d\nAir cushion "
+                pC_->pasynUser(), ASYN_TRACE_ERROR,
-                      "feedback stopped during movement (P%2.2d01 = %d).%s\n",
+                "Controller \"%s\", axis %d  => %s, line %d\nLost feedback "
-                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                "from auxiliary device during movement (P%2.2d01 = "
-                      axisNo_, error, pC_->getMsgPrintControl().getSuffix());
+                "%d).%s\n",
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
+                error, pC_->getMsgPrintControl().getSuffix());
         }
         snprintf(userMessage, sizeUserMessage,
-                 "Air cushion feedback stopped during movement (P%2.2d01 = "
+                 "Lost feedback from auxiliary device during movement "
+                 "(P%2.2d01 = "
                  "%d). Please call the support.",
                  axisNo_, error);
         setAxisParamChecked(this, motorMessageText, userMessage);
         break;
     case 9:
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
                 pC_->pasynUser())) {
-            asynPrint(
+            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                pC_->pasynUser(), ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line %d\nNo feedback "
-                "Controller \"%s\", axis %d  => %s, line %d\nNo air cushion "
+                      "from "
-                "feedback before movement start (P%2.2d01 = %d).%s\n",
+                      "auxiliary device before movement (P%2.2d01 = %d).%s\n",
-                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                error, pC_->getMsgPrintControl().getSuffix());
+                      axisNo_, error, pC_->getMsgPrintControl().getSuffix());
         }
 
-        snprintf(userMessage, sizeUserMessage,
+        snprintf(
-                 "No air cushion feedback before movement start (P%2.2d01 = "
+            userMessage, sizeUserMessage,
+            "No feedback from auxiliary device before movement (P%2.2d01 = "
             "%d). Please call the support.",
             axisNo_, error);
         setAxisParamChecked(this, motorMessageText, userMessage);
         break;
     case 10:
         /*
-        Software limits of the controller have been hit. Since the EPICS limits
+        Software limits of the controller have been hit. Since the EPICS
-        are derived from the software limits and are a little bit smaller, this
+        limits are derived from the software limits and are a little bit
-        error case can only happen if either the axis has an incremental encoder
+        smaller, this error case can only happen if either the axis has an
-        which is not properly homed or if a bug occured.
+        incremental encoder which is not properly homed or if a bug occured.
         */
 
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
                 pC_->pasynUser())) {
             asynPrint(
                 pC_->pasynUser(), ASYN_TRACE_ERROR,
@@ -646,11 +701,12 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
     case 11:
         // Following error
 
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
                 pC_->pasynUser())) {
-            asynPrint(
+            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                pC_->pasynUser(), ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line %d\nMaximum "
-                "Controller \"%s\", axis %d  => %s, line %d\nMaximum allowed "
+                      "allowed "
                       "following error exceeded.%s\n",
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                       pC_->getMsgPrintControl().getSuffix());
@@ -664,7 +720,8 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         break;
 
     case 12:
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
                 pC_->pasynUser())) {
             asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d  => %s, line %d\nSecurity "
@@ -683,7 +740,8 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
     case 13:
         // Driver hardware error triggered
 
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
                 pC_->pasynUser())) {
             asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d  => %s, line %d\nDriver "
@@ -691,16 +749,17 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                       pC_->getMsgPrintControl().getSuffix());
         }
-        snprintf(
+        snprintf(userMessage, sizeUserMessage,
-            userMessage, sizeUserMessage,
+                 "Driver hardware error (P%2.2d01 = 13). Please call the "
-            "Driver hardware error (P%2.2d01 = 13). Please call the support.",
+                 "support.",
                  axisNo_);
         setAxisParamChecked(this, motorMessageText, userMessage);
         break;
     case 14:
         // EPICS should already prevent this issue in the first place,
         // since it contains the user limits
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
                 pC_->pasynUser())) {
             asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d  => %s, line %d\nMove "
@@ -716,7 +775,8 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         break;
     default:
 
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
                 pC_->pasynUser())) {
             asynPrint(
                 pC_->pasynUser(), ASYN_TRACE_ERROR,
@@ -728,10 +788,6 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         setAxisParamChecked(this, motorMessageText, userMessage);
         break;
     }
-
-    if (status == asynSuccess) {
-        pC_->getMsgPrintControl().resetCount(keyError, pC_->pasynUser());
-    }
     return status;
 }
 
@@ -744,7 +800,7 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
 
     char command[pC_->MAXBUF_] = {0};
     char response[pC_->MAXBUF_] = {0};
-    double motorCoordinatesPosition = 0.0;
+    double motorTargetPosition = 0.0;
     double motorRecResolution = 0.0;
     double motorVelocity = 0.0;
     int enabled = 0;
@@ -753,32 +809,37 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
 
     // =========================================================================
 
+    // Suppress unused variables warning
+    (void)minVelocity;
+    (void)acceleration;
+
     getAxisParamChecked(this, motorEnableRBV, &enabled);
     getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
     if (enabled == 0) {
-        asynPrint(
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-            pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d  => %s, line %d\nAxis is "
-            "Controller \"%s\", axis %d  => %s, line %d\nAxis is disabled.\n",
+                  "disabled.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         return asynSuccess;
     }
 
     // Convert from EPICS to user / motor units
-    motorCoordinatesPosition = position * motorRecResolution;
+    motorTargetPosition = position * motorRecResolution;
     motorVelocity = maxVelocity * motorRecResolution;
 
     asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
               "Controller \"%s\", axis %d  => %s, line %d\nStart of axis to "
               "position %lf.\n",
-              pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, position);
+              pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+              motorTargetPosition);
 
     // Check if the speed is allowed to be changed
     getAxisParamChecked(this, motorCanSetSpeed, &motorCanSetSpeed);
 
     // Prepend the new motor speed, if the user is allowed to set the speed.
-    // Mind the " " (space) before the closing "", as the command created here
+    // Mind the " " (space) before the closing "", as the command created
-    // is prepended to the one down below.
+    // here is prepended to the one down below.
     if (motorCanSetSpeed != 0) {
         snprintf(command, sizeof(command), "Q%2.2d04=%lf ", axisNo_,
                  motorVelocity);
@@ -791,34 +852,34 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
                   motorVelocity);
     }
 
-    // Perform handshake, Set target position (and speed, if allowed) and start
+    // Perform handshake, Set target position (and speed, if allowed) and
-    // the move command
+    // start the move command
     if (relative) {
         snprintf(&command[writeOffset], sizeof(command) - writeOffset,
                  "P%2.2d23=0 Q%2.2d02=%lf M%2.2d=2", axisNo_, axisNo_,
-                 motorCoordinatesPosition, axisNo_);
+                 motorTargetPosition, axisNo_);
     } else {
         snprintf(&command[writeOffset], sizeof(command) - writeOffset,
                  "P%2.2d23=0 Q%2.2d01=%lf M%2.2d=1", axisNo_, axisNo_,
-                 motorCoordinatesPosition, axisNo_);
+                 motorTargetPosition, axisNo_);
     }
 
     // We don't expect an answer
     status = pC_->writeRead(axisNo_, command, response, 0);
     if (status != asynSuccess) {
 
-        asynPrint(
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-            pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d  => %s, line %d\nStarting "
-            "Controller \"%s\", axis %d  => %s, line %d\nStarting movement to "
+                  "movement to "
                   "target position %lf failed.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-            motorCoordinatesPosition);
+                  motorTargetPosition);
         setAxisParamChecked(this, motorStatusProblem, true);
         return status;
     }
 
-    // In the next poll, we will check if the handshake has been performed in a
+    // In the next poll, we will check if the handshake has been performed
-    // reasonable time
+    // in a reasonable time
     pTurboPmacA_->waitForHandshake = true;
     pTurboPmacA_->timeAtHandshake = time(NULL);
 
@@ -833,7 +894,6 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
 
 asynStatus turboPmacAxis::stop(double acceleration) {
 
-    // Status of read-write-operations of ASCII commands to the controller
     asynStatus status = asynSuccess;
 
     char command[pC_->MAXBUF_] = {0};
@@ -841,22 +901,37 @@ asynStatus turboPmacAxis::stop(double acceleration) {
 
     // =========================================================================
 
+    // Suppress unused variables warning
+    (void)acceleration;
+
     snprintf(command, sizeof(command), "M%2.2d=8", axisNo_);
     status = pC_->writeRead(axisNo_, command, response, 0);
 
     if (status != asynSuccess) {
-        asynPrint(
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-            pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d  => %s, line %d\nStopping "
-            "Controller \"%s\", axis %d  => %s, line %d\nStopping the movement "
+                  "the movement "
                   "failed.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         setAxisParamChecked(this, motorStatusProblem, true);
     }
 
-    // Reset the driver to idle state and move out of the handshake wait loop,
+    // Reset the driver to idle state and move out of the handshake wait
-    // if we're currently inside it.
+    // loop, if we're currently inside it.
     pTurboPmacA_->waitForHandshake = false;
 
+    /*
+    Stopping the motor results in a movement and further move commands have
+    to wait until the stopping movement is done. Therefore, we need to wait
+    until the poller "sees" the changed state (otherwise, we risk issuing
+    move commands while the motor is stopping). To ensure that at least one
+    poll is done, this thread (which also runs move commands) is paused for
+    twice the idle poll period.
+    */
+    unsigned int idlePollMicros =
+        (unsigned int)ceil(pC_->idlePollPeriod() * 1e6);
+    usleep(2 * idlePollMicros);
+
     return status;
 }
 
@@ -882,17 +957,18 @@ asynStatus turboPmacAxis::doReset() {
         setAxisParamChecked(this, motorStatusProblem, true);
     }
 
-    // Reset the driver to idle state and move out of the handshake wait loop,
+    // Reset the driver to idle state and move out of the handshake wait
-    // if we're currently inside it.
+    // loop, if we're currently inside it.
     pTurboPmacA_->waitForHandshake = false;
 
-    return status;
+    // Disable the axis
+    return enable(false);
 }
 
 /*
 Home the axis. On absolute encoder systems, this is a no-op
 */
-asynStatus turboPmacAxis::doHome(double min_velocity, double max_velocity,
+asynStatus turboPmacAxis::doHome(double minVelocity, double maxVelocity,
                                  double acceleration, int forwards) {
 
     // Status of read-write-operations of ASCII commands to the controller
@@ -903,6 +979,12 @@ asynStatus turboPmacAxis::doHome(double min_velocity, double max_velocity,
 
     // =========================================================================
 
+    // Suppress unused variables warning
+    (void)minVelocity;
+    (void)maxVelocity;
+    (void)acceleration;
+    (void)forwards;
+
     getAxisParamChecked(this, encoderType, &response);
 
     // Only send the home command if the axis has an incremental encoder
@@ -974,13 +1056,14 @@ asynStatus turboPmacAxis::readEncoderType() {
 }
 
 /*
-This is not a command that can always be run when enabling a motor as it also
+This is not a command that can always be run when enabling a motor as it
-causes relative encoders to reread a position necessitating recalibration. We
+also causes relative encoders to reread a position necessitating
-only want it to run on absolute encoders. We also want it to be clear to
+recalibration. We only want it to run on absolute encoders. We also want it
-instrument scientists, that power has to be cut to the motor, in order to reread
+to be clear to instrument scientists, that power has to be cut to the motor,
-the encoder as not all motors have breaks and they may start to move when
+in order to reread the encoder as not all motors have breaks and they may
-disabled. For that reason, we don't automatically disable the motors to run the
+start to move when disabled. For that reason, we don't automatically disable
-command and instead require that the scientists first disable the motor.
+the motors to run the command and instead require that the scientists first
+disable the motor.
 */
 asynStatus turboPmacAxis::rereadEncoder() {
     char command[pC_->MAXBUF_] = {0};
@@ -1024,11 +1107,12 @@ asynStatus turboPmacAxis::rereadEncoder() {
         return asynError;
     } else {
         snprintf(command, sizeof(command), "M%2.2d=15", axisNo_);
-        asynPrint(
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
-            pC_->pasynUser(), ASYN_TRACE_FLOW,
+                  "Controller \"%s\", axis %d  => %s, line %d\nRereading "
-            "Controller \"%s\", axis %d  => %s, line %d\nRereading absolute "
+                  "absolute "
                   "encoder via command %s.\n",
-            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, command);
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  command);
         pC_->writeRead(axisNo_, command, response, 0);
     }
 
@@ -1037,15 +1121,15 @@ asynStatus turboPmacAxis::rereadEncoder() {
     // it is actually finished, so we instead wait for 0.5 seconds.
     usleep(500000);
 
-    // Turn off parameter as finished rereading, this will only be immediately
+    // Turn off parameter as finished rereading, this will only be
-    // noticed in the read back variable though
+    // immediately noticed in the read back variable though
     setAxisParamChecked(this, rereadEncoderPosition, false);
     return asynSuccess;
 }
 
 asynStatus turboPmacAxis::enable(bool on) {
 
-    int timeout_enable_disable = 2;
+    int timeout_enable_disable = 5;
     char command[pC_->MAXBUF_] = {0};
     char response[pC_->MAXBUF_] = {0};
     int nvals = 0;
@@ -1058,37 +1142,41 @@ asynStatus turboPmacAxis::enable(bool on) {
     /*
     Continue regardless of the status returned by the poll; we just want to
     find out whether the motor is currently moving or not. If the poll
-    function fails before it can determine that, it is assumed that the motor
+    function fails before it can determine that, it is assumed that the
-    is not moving.
+    motor is not moving.
     */
     bool moving = false;
     doPoll(&moving);
 
     // If the axis is currently moving, it cannot be disabled. Ignore the
-    // command and inform the user. We check the last known status of the axis
+    // command and inform the user. We check the last known status of the
-    // instead of "moving", since status -6 is also moving, but the motor can
+    // axis instead of "moving", since status -6 is also moving, but the
-    // actually be disabled in this state!
+    // motor can actually be disabled in this state!
     int axStatus = pTurboPmacA_->axisStatus;
     if (axStatus == 1 || axStatus == 2 || axStatus == 3 || axStatus == 4 ||
         axStatus == 5 || axStatus == 6 || axStatus == 7 || axStatus == 8 ||
         axStatus == 9 || axStatus == 10 || axStatus == 11 || axStatus == 12 ||
         axStatus == 13 || axStatus == 15 || axStatus == 16) {
+
         asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d  => %s, line %d\nAxis is not "
-                  "idle and can therefore not be enabled / disabled.\n",
+                  "idle (status %d) and can therefore not be enabled / "
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+                  "disabled.\n",
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  axStatus);
 
         setAxisParamChecked(this, motorMessageText,
                             "Axis cannot be disabled while it is moving.");
+        pTurboPmacA_->enableDisable = false;
         return asynError;
     }
 
     // Axis is already enabled / disabled and a new enable / disable command
     // was sent => Do nothing
     if ((axStatus != -3) == on) {
-        asynPrint(
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_WARNING,
-            pC_->pasynUser(), ASYN_TRACE_WARNING,
+                  "Controller \"%s\", axis %d  => %s, line %d\nAxis is "
-            "Controller \"%s\", axis %d  => %s, line %d\nAxis is already %s.\n",
+                  "already %s.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                   on ? "enabled" : "disabled");
         return asynSuccess;
@@ -1102,7 +1190,10 @@ asynStatus turboPmacAxis::enable(bool on) {
         }
     }
 
-    // Enable / disable the axis if it is not moving
+    // Now the actual enabling / disabling starts
+    pTurboPmacA_->enableDisable = true;
+
+    // Enable / disable the axis
     snprintf(command, sizeof(command), "M%2.2d14=%d", axisNo_, on);
     asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
               "Controller \"%s\", axis %d  => %s, line %d\n%s axis\n",
@@ -1120,10 +1211,14 @@ asynStatus turboPmacAxis::enable(bool on) {
     int startTime = time(NULL);
     while (time(NULL) < startTime + timeout_enable_disable) {
 
+        // Wait a bit between status updates from the controller.
+        usleep(10000);
+
         // Read the axis status
-        usleep(100000);
         status = pC_->writeRead(axisNo_, command, response, 1);
         if (status != asynSuccess) {
+            // Enabling / disabling procedure failed
+            pTurboPmacA_->enableDisable = false;
             return status;
         }
         nvals = sscanf(response, "%d", &pTurboPmacA_->axisStatus);
@@ -1133,9 +1228,13 @@ asynStatus turboPmacAxis::enable(bool on) {
         }
 
         if ((pTurboPmacA_->axisStatus != -3) == on) {
+            usleep(500000);
+
             bool moving = false;
-            // Perform a poll to update the parameter library
+            forcedPoll(&moving);
-            poll(&moving);
+
+            // Enabling / disabling procedure is completed (successfully)
+            pTurboPmacA_->enableDisable = false;
             return asynSuccess;
         }
     }
@@ -1152,6 +1251,9 @@ asynStatus turboPmacAxis::enable(bool on) {
     snprintf(command, sizeof(command), "Failed to %s within %d seconds",
              on ? "enable" : "disable", timeout_enable_disable);
     setAxisParamChecked(this, motorMessageText, command);
+
+    // Enabling / disabling procedure failed
+    pTurboPmacA_->enableDisable = false;
     return asynError;
 }
 
@@ -1225,8 +1327,8 @@ asynStatus turboPmacCreateAxis(const char *portName, int axis) {
     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
+    The created object is registered in EPICS in its constructor and can
-    be "leaked" here.
+    safely be "leaked" here.
     */
 #pragma GCC diagnostic ignored "-Wunused-but-set-variable"
 #pragma GCC diagnostic ignored "-Wunused-variable"
@@ -1249,14 +1351,15 @@ static const iocshArg *const CreateAxisArgs[] = {&CreateAxisArg0,
 static const iocshFuncDef configTurboPmacCreateAxis = {
     "turboPmacAxis", 2, CreateAxisArgs,
     "Create an instance of a turboPmac axis. The first argument is the "
-    "controller this axis should be attached to, the second argument is the "
+    "controller this axis should be attached to, the second argument is "
+    "the "
     "axis number."};
 static void configTurboPmacCreateAxisCallFunc(const iocshArgBuf *args) {
     turboPmacCreateAxis(args[0].sval, args[1].ival);
 }
 
-// This function is made known to EPICS in turboPmac.dbd and is called by EPICS
+// This function is made known to EPICS in turboPmac.dbd and is called by
-// in order to register both functions in the IOC shell
+// EPICS in order to register both functions in the IOC shell
 static void turboPmacAxisRegister(void) {
     iocshRegister(&configTurboPmacCreateAxis,
                   configTurboPmacCreateAxisCallFunc);

src/turboPmacAxis.h

@@ -4,15 +4,19 @@
 #include "turboPmacController.h"
 #include <memory>
 
-struct turboPmacAxisImpl;
+struct HIDDEN turboPmacAxisImpl;
 
-class turboPmacAxis : public sinqAxis {
+class HIDDEN turboPmacAxis : public sinqAxis {
   public:
     /**
      * @brief Construct a new turboPmacAxis
      *
      * @param pController         Pointer to the associated controller
      * @param axisNo              Index of the axis
+     * @param initialize          By setting this parameter to false, the
+     * initialization functions of the axes are not executed. This is e.g.
+     * necessary when this constructor is called from a children class
+     * constructor which performs its own initialization.
      */
     turboPmacAxis(turboPmacController *pController, int axisNo,
                   bool initialize = true);
@@ -24,6 +28,18 @@ class turboPmacAxis : public sinqAxis {
      */
     virtual ~turboPmacAxis();
 
+    /**
+     * @brief Readout of some values from the controller at IOC startup
+     *
+     * The following steps are performed:
+     * - Read out the motor status, motor position, velocity and acceleration
+     * from the MCU and store this information in the parameter library.
+     * - Set the enable PV according to the initial status of the axis.
+     *
+     * @return asynStatus
+     */
+    virtual asynStatus init();
+
     /**
      * @brief Implementation of the `stop` function from asynMotorAxis
      *
@@ -70,18 +86,6 @@ class turboPmacAxis : public sinqAxis {
                               double min_velocity, double max_velocity,
                               double acceleration);
 
-    /**
-     * @brief Readout of some values from the controller at IOC startup
-     *
-     * The following steps are performed:
-     * - Read out the motor status, motor position, velocity and acceleration
-     * from the MCU and store this information in the parameter library.
-     * - Set the enable PV according to the initial status of the axis.
-     *
-     * @return asynStatus
-     */
-    virtual asynStatus init();
-
     /**
      * @brief Implementation of the `doReset` function from sinqAxis.
      *

src/turboPmacController.cpp

@@ -41,13 +41,13 @@ struct turboPmacControllerImpl {
     // User for writing int32 values to the port driver.
     asynUser *pasynInt32SyncIOipPort;
 
-    // Indices of additional PVs
+    // Indices of additional ParamLib entries
     int rereadEncoderPosition;
     int readConfig;
     int flushHardware;
     int limFromHardware;
 };
-#define NUM_turboPmac_DRIVER_PARAMS 3
+#define NUM_turboPmac_DRIVER_PARAMS 5
 
 turboPmacController::turboPmacController(const char *portName,
                                          const char *ipPortConfigName,
@@ -61,17 +61,17 @@ turboPmacController::turboPmacController(const char *portName,
           - REREAD_ENCODER_POSITION
           - READ_CONFIG
           */
-          numExtraParams + NUM_turboPmac_DRIVER_PARAMS)
+          numExtraParams + NUM_turboPmac_DRIVER_PARAMS),
-
+      pTurboPmacC_(
-{
-
-    // The paramLib indices are populated with the calls to createParam
-    pTurboPmacC_ =
           std::make_unique<turboPmacControllerImpl>((turboPmacControllerImpl){
               .comTimeout = comTimeout,
               .lastResponse = {0},
-        });
+              .pasynInt32SyncIOipPort = nullptr, // Populated in constructor
-
+              .rereadEncoderPosition = 0,        // Populated in constructor
+              .readConfig = 0,                   // Populated in constructor
+              .flushHardware = 0,                // Populated in constructor
+              .limFromHardware = 0,              // Populated in constructor
+          })) {
     // Initialization of local variables
     asynStatus status = asynSuccess;
 
@@ -206,8 +206,6 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
 
     // Definition of local variables.
     asynStatus status = asynSuccess;
-    asynStatus timeoutStatus = asynSuccess;
-    // char fullCommand[MAXBUF_] = {0};
     char drvMessageText[MAXBUF_] = {0};
     char modResponse[MAXBUF_] = {0};
     int motorStatusProblem = 0;
@@ -255,6 +253,22 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
         pasynOctetSyncIOipPort(), command, commandLength, response, MAXBUF_,
         pTurboPmacC_->comTimeout, &nbytesOut, &nbytesIn, &eomReason);
 
+    /*
+    If sth. is written to the controller, it needs some time to process the
+    command. However, the controller returns the acknowledgment via
+    pasynOctetSyncIO->writeRead immediately, signalling to the driver that it is
+    ready to receive the next command. In practice, this can result in commands
+    getting discarded on the driver side or in bringing the driver in undefined
+    states (e.g. stuck in status 1).
+
+    To prevent this, we wait for 20 ms after a write command to give the
+    controller enough time to process everything. A write command can be
+    identified by looking for the equal sign.
+    */
+    if (strchr(command, '=')) {
+        usleep(20000);
+    }
+
     msgPrintControlKey comKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
@@ -269,8 +283,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                 getMsgPrintControl().getSuffix());
         }
 
-        timeoutStatus = checkComTimeoutWatchdog(axisNo, drvMessageText,
+        checkComTimeoutWatchdog(axisNo, drvMessageText, sizeof(drvMessageText));
-                                                sizeof(drvMessageText));
 
         int timeoutCounter = 0;
         while (1) {
@@ -318,14 +331,10 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
         axis->setNeedInit(true);
     }
 
-    if (timeoutStatus == asynError) {
-        status = asynError;
-    }
-
     // The message should only ever terminate due to reason 2
     msgPrintControlKey terminateKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
-    if (eomReason != 2) {
+    if (status == asynSuccess && eomReason != 2) {
         status = asynError;
 
         char reasonStringified[30] = {0};
@@ -376,7 +385,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     }
     msgPrintControlKey numResponsesKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
-    if (numExpectedResponses != numReceivedResponses) {
+    if (status == asynSuccess && numExpectedResponses != numReceivedResponses) {
         adjustResponseForPrint(modResponse, response, MAXBUF_);
 
         if (getMsgPrintControl().shouldBePrinted(numResponsesKey, true,
@@ -558,7 +567,8 @@ static const iocshArg *const CreateControllerArgs[] = {
     &CreateControllerArg0, &CreateControllerArg1, &CreateControllerArg2,
     &CreateControllerArg3, &CreateControllerArg4, &CreateControllerArg5};
 static const iocshFuncDef configTurboPmacCreateController = {
-    "turboPmacController", 6, CreateControllerArgs};
+    "turboPmacController", 6, CreateControllerArgs,
+    "Create a new instance of a TurboPMAC controller."};
 static void configTurboPmacCreateControllerCallFunc(const iocshArgBuf *args) {
     turboPmacCreateController(args[0].sval, args[1].sval, args[2].ival,
                               args[3].dval, args[4].dval, args[5].dval);

src/turboPmacController.h

@@ -15,11 +15,11 @@
 // Forward declaration of the controller class to resolve the cyclic dependency
 // between the controller and the axis .h-file. See
 // https://en.cppreference.com/w/cpp/language/class.
-class turboPmacAxis;
+class HIDDEN turboPmacAxis;
 
-struct turboPmacControllerImpl;
+struct HIDDEN turboPmacControllerImpl;
 
-class turboPmacController : public sinqController {
+class HIDDEN turboPmacController : public sinqController {
   public:
     /**
      * @brief Construct a new turboPmacController object. This function is meant
@@ -93,7 +93,8 @@ class turboPmacController : public sinqController {
      * @return asynStatus
      */
     asynStatus writeRead(int axisNo, const char *command, char *response,
-                         int numExpectedResponses);
+                         int numExpectedResponses)
+        __attribute__((visibility("hidden")));
 
     /**
      * @brief Specialized version of sinqController::couldNotParseResponse