diff --git a/lwrserv/.ycm_extra_conf.pyc b/lwrserv/.ycm_extra_conf.pyc
index ebcd88e..a6394c5 100644
Binary files a/lwrserv/.ycm_extra_conf.pyc and b/lwrserv/.ycm_extra_conf.pyc differ
diff --git a/lwrserv/include/Robot.h b/lwrserv/include/Robot.h
index 95570f4..6d41c02 100644
--- a/lwrserv/include/Robot.h
+++ b/lwrserv/include/Robot.h
@@ -10,13 +10,12 @@
 #include "Trajectroy.h"
 
 typedef Vec<float, FRI_CART_VEC> VecTorque;
-#define jointNumber LBR_MNJ
-typedef Vec<float,jointNumber> VecJoint;
 class Robot
 {
     public:
+        static const unsigned int joints = LBR_MNJ;
 
-        typedef Vec<float,jointNumber> VecJoint;
+        typedef Vec<float,joints> VecJoint;
 
         static int      getJointCount(void)
         {
@@ -51,5 +50,6 @@ class Robot
         static VecJoint      backwardCalc(MatCarthesian, struct RobotConfig config );
         static MatCarthesian forwardCalc(VecJoint, struct RobotConfig config );
 };
+typedef Vec<float,Robot::joints> VecJoint;
 
 #endif
diff --git a/lwrserv/include/SvrData.h b/lwrserv/include/SvrData.h
index 7889241..8a337d8 100644
--- a/lwrserv/include/SvrData.h
+++ b/lwrserv/include/SvrData.h
@@ -22,7 +22,7 @@ private:
         VecJoint jointPos;
         MatCarthesian cartPos;
         VecTorque forceAndTorque;
-        float jacobian[FRI_CART_VEC * jointNumber];
+        float jacobian[FRI_CART_VEC * Robot::joints];
     } messured;
     struct {
         VecJoint jointPos;
@@ -44,7 +44,7 @@ private:
         float sampleTimeMs;
         bool cancel;
         bool done;
-        std::queue< Trajectory<jointNumber>* > list;
+        std::queue< Trajectory<Robot::joints>* > list;
         enum TrajectoryType type;
         bool potfieldmode;
     }trajectory;
@@ -113,8 +113,8 @@ public:
     int   setSampleTimeMs(float newSampleTime);
 
     bool getTrajectoryCancel();
-    class Trajectory<jointNumber>*  popTrajectory();
-    int  pushTrajectory(class Trajectory<jointNumber>* newFrajectory);
+    class Trajectory<Robot::joints>*  popTrajectory();
+    int  pushTrajectory(class Trajectory<Robot::joints>* newFrajectory);
     bool cancelCurrentTrajectory();
     void trajectoryCancelDone();
     
@@ -123,10 +123,10 @@ public:
     enum TrajectoryType getTrajectoryType();
     void setTrajectoryType(enum TrajectoryType newType);
 
-    class Trajectory<jointNumber>* createTrajectory(VecJoint newJointPos);
-    class Trajectory<jointNumber>* createTrajectory(MatCarthesian newJointPos);
+    class Trajectory<Robot::joints>* createTrajectory(VecJoint newJointPos);
+    class Trajectory<Robot::joints>* createTrajectory(MatCarthesian newJointPos);
 
-    class Trajectory<jointNumber>* calculateTrajectory(
+    class Trajectory<Robot::joints>* calculateTrajectory(
             VecJoint maxJointVelocity,
             VecJoint maxJointAcceleration,
             VecJoint jointStart,
diff --git a/lwrserv/src/SvrData.cpp b/lwrserv/src/SvrData.cpp
index 97a2a9e..1f0112f 100644
--- a/lwrserv/src/SvrData.cpp
+++ b/lwrserv/src/SvrData.cpp
@@ -26,7 +26,7 @@ SvrData::SvrData(void)
     robot.currentVelocityPercentage = 10;
     robot.currentAccelerationPercentage = 10;
 
-    for (unsigned int i = 0; i < jointNumber; ++i)
+    for (unsigned int i = 0; i < Robot::joints; ++i)
     {
         robot.max.velocity(i) = maxVelJnt[i];
         robot.max.accelaration(i) = maxAccJnt[i];
@@ -230,7 +230,7 @@ bool SvrData::checkJointRange(VecJoint vectorToCheck)
     pthread_mutex_unlock(&dataLock);
     
     // check if the value is in plus or minus range 
-    for (int i = 0; i<jointNumber; i++)
+    for (int i = 0; i<Robot::joints; i++)
     {
         if (abs(vectorToCheck(i)) > abs(maxJointRange(i)))
         {
@@ -317,7 +317,7 @@ unsigned int SvrData::getJoints()
     unsigned int retval = 0;
 
     pthread_mutex_lock(&dataLock);
-    retval = jointNumber;
+    retval = Robot::joints;
     pthread_mutex_unlock(&dataLock);
     return retval;
 }
@@ -346,9 +346,9 @@ int   SvrData::setSampleTimeMs(float newSampleTimeMs)
     return retval;
 }
 
-class Trajectory<jointNumber>*  SvrData::popTrajectory()
+class Trajectory<Robot::joints>*  SvrData::popTrajectory()
 {
-    class Trajectory<jointNumber>* retval = NULL;
+    class Trajectory<Robot::joints>* retval = NULL;
     pthread_mutex_lock(&dataLock);
     if (!trajectory.list.empty() )
     {
@@ -363,7 +363,7 @@ class Trajectory<jointNumber>*  SvrData::popTrajectory()
     pthread_mutex_unlock(&dataLock);
     return retval;
 }
-int SvrData::pushTrajectory(class Trajectory<jointNumber>* newTrajectory)
+int SvrData::pushTrajectory(class Trajectory<Robot::joints>* newTrajectory)
 {
     if (newTrajectory == NULL)
         return -1;
@@ -392,7 +392,7 @@ bool SvrData::cancelCurrentTrajectory()
     // clear trajectory list
     while(!trajectory.list.empty())
     {
-        class Trajectory<jointNumber>* currentTrajectory = trajectory.list.front();
+        class Trajectory<Robot::joints>* currentTrajectory = trajectory.list.front();
         if(currentTrajectory != NULL)
             delete currentTrajectory;
         trajectory.list.pop();
@@ -445,11 +445,11 @@ void SvrData::setTrajectoryType(enum TrajectoryType newType)
     pthread_mutex_unlock(&dataLock);
 }
 
-class Trajectory<jointNumber>* SvrData::createTrajectory(VecJoint newJointPos)
+class Trajectory<Robot::joints>* SvrData::createTrajectory(VecJoint newJointPos)
 {
     //set new target for next trajectory
     VecJoint prevJointPos = getCommandedJointPos();
-    class Trajectory<jointNumber>* newTrajectory;
+    class Trajectory<Robot::joints>* newTrajectory;
     
     float sampleTimeMs = getSampleTimeMs();
     VecJoint maxJointVelocity     =  getRobotVelocity();
@@ -457,11 +457,11 @@ class Trajectory<jointNumber>* SvrData::createTrajectory(VecJoint newJointPos)
     enum TrajectoryType type      =  getTrajectoryType();
 
     //newTrajectory = SvrData::getInstance()->createTrajectory(newJointPos);
-    newTrajectory = Trajectory<jointNumber>::GetTrajectory(type,sampleTimeMs, maxJointVelocity, maxJointAcceleration, prevJointPos, newJointPos); 
+    newTrajectory = Trajectory<Robot::joints>::GetTrajectory(type,sampleTimeMs, maxJointVelocity, maxJointAcceleration, prevJointPos, newJointPos); 
 
     return newTrajectory;
 }
-class Trajectory<jointNumber>* SvrData::createTrajectory(MatCarthesian newJointPos)
+class Trajectory<Robot::joints>* SvrData::createTrajectory(MatCarthesian newJointPos)
 {
 
 }
diff --git a/lwrserv/src/commands.cpp b/lwrserv/src/commands.cpp
index 2152240..8e25a2a 100644
--- a/lwrserv/src/commands.cpp
+++ b/lwrserv/src/commands.cpp
@@ -43,7 +43,7 @@
 
 void moveRobotTo(VecJoint newJointPos)
 {
-    Trajectory<jointNumber>* newTrajectory = SvrData::getInstance()->createTrajectory(newJointPos);
+    Trajectory<Robot::joints>* newTrajectory = SvrData::getInstance()->createTrajectory(newJointPos);
 
     // add trajectory to queue for sender thread
     SvrData::getInstance()->pushTrajectory(newTrajectory);
@@ -70,7 +70,7 @@ void getPositionJoints(SocketObject& client, std::string& arg)
     VecJoint jointPos = SvrData::getInstance()->getMessuredJointPos();
 
     // assemble command feadback
-    for (int i=0; i< jointNumber; i++)
+    for (int i=0; i< Robot::joints; i++)
     {
         ss.str("");
         ss << (jointPos(i)*180/M_PI);
@@ -138,7 +138,7 @@ void movePTPJoints(SocketObject& client, std::string& arg)
     while (ss >> buf)
     {
         // to many joint values
-        if (i>=jointNumber)
+        if (i>=Robot::joints)
         {
             client.Send(SVR_INVALID_ARGUMENT_COUNT);
             return;
@@ -151,7 +151,7 @@ void movePTPJoints(SocketObject& client, std::string& arg)
     }
 
     // to less joint values
-    if (i!=jointNumber)
+    if (i!=Robot::joints)
     {
         client.Send(SVR_INVALID_ARGUMENT_COUNT);
         return ;
diff --git a/lwrserv/src/main.cpp b/lwrserv/src/main.cpp
index be1f29a..8b62c04 100644
--- a/lwrserv/src/main.cpp
+++ b/lwrserv/src/main.cpp
@@ -17,7 +17,7 @@ void *threadRobotMovement(void *arg)
     // unused parameters 
     (void) arg;
 
-    Trajectory<jointNumber>* currentTrajectory = NULL;
+    Trajectory<Robot::joints>* currentTrajectory = NULL;
     enum MovementType currentMovementType  = MovementJointBased;
 
     VecJoint currentJointPos(0.0f);
@@ -36,7 +36,7 @@ void *threadRobotMovement(void *arg)
     
         SvrData::getInstance()->setCommandedJointPos(currentJointPos);
 
-        float newJointPosToSend[jointNumber] = {0.0f};
+        float newJointPosToSend[Robot::joints] = {0.0f};
         currentJointPos.getData(newJointPosToSend);
         if (REAL_ROBOT)
             friInst->doPositionControl(newJointPosToSend);
@@ -119,7 +119,7 @@ end:
             case MovementJointBased:
                 {
                     // send the new joint values
-                    float newJointPosToSend[jointNumber] = {0.0f};
+                    float newJointPosToSend[Robot::joints] = {0.0f};
                     VecJoint newJointPosToSendRad = currentJointPos*(1./180*M_PI);
                     newJointPosToSendRad.getData(newJointPosToSend);
                     if (REAL_ROBOT)