Motor state re-reading from hardware
IcePAP motors can have closed loop errors or become OFF while moving. Reported state is an error (no READY flag). In this case, even if the problem is solved with icepapcms or by some other external factor, motion would be impossible in bliss - only .sync_hard() can solve the state problem.
Proposal: when state is not READY when starting a motion, re-read the state from hardware to see if the situation improved since last time. Having the state update will remove the need to call sync_hard().