diff --git a/lwrserv/SvrHandling.cpp b/lwrserv/SvrHandling.cpp
index b1d1b1a..dfa4ad2 100755
--- a/lwrserv/SvrHandling.cpp
+++ b/lwrserv/SvrHandling.cpp
@@ -267,9 +267,10 @@ double* kukaBackwardCalc(double M_[12], float arg[3])
 
 bool checkJntRange(double Joints[7])
 {
+    Vec<float,LBR_MNJ> maxJointRange = SvrData::getInstance()->getMaxRange();
     for (int i = 0; i<LBR_MNJ; i++)
     {
-        if (abs(Joints[i])>abs(maxRangeJnt[i]))
+        if (abs(Joints[i]) > abs(maxJointRange(i)))
         {
             // join angle is too big
             return false;
@@ -282,9 +283,9 @@ bool checkJntRange(double Joints[7])
 Mat4f vecToMat(float vec[12])
 {
     Mat4f result;
-    for (int i=0; i<3; i++)
+    for (int i=0; i<3; i++) // ZEILE
     {
-        for (int j=0; j<4; j++)
+        for (int j=0; j<4; j++) // SPALTE
         {
             result(i,j) = vec[i*4+j];
         }
@@ -663,8 +664,9 @@ void SvrHandling::SetSpeed(SocketObject& client, string& args)
 {
     __SETVELOCITY = true;
     __SVR_CURRENT_JOB = true;
+    //SvrData::getInstance()->setState(SVR_STATE_SET_VELOCITY);
     string buf;
-    float temp[1];
+    float newVelocity;
     stringstream ss(args);
     stringstream ss2f;
     vector<string> tokens;
@@ -685,16 +687,17 @@ void SvrHandling::SetSpeed(SocketObject& client, string& args)
         ss2f.flush();
         ss2f.clear();
         ss2f << buf;
-        ss2f >> temp[i];
+        ss2f >> newVelocity;
         i++;
     }
-    if ((temp[0] < 1)||(temp[0]>1000))
+    if ((newVelocity < 1.0f)||(newVelocity >1000.0))
     {
         client.Send(SVR_FALSE_RSP);
         return;
     }
-    VELOCITY = temp[0];
+    SvrData::getInstance()->setRobotVelocity(newVelocity);
     client.Send(SVR_TRUE_RSP);
+    //SvrData::getInstance()->setState(SVR_STATE_RUNNING);
     __SVR_CURRENT_JOB = false;
 }
 
@@ -703,7 +706,7 @@ void SvrHandling::SetAccel(SocketObject& client, string& args)
     __SETACCEL = true;
     __SVR_CURRENT_JOB = true;
     string buf;
-    float temp[1];
+    float newAcceleration;
     stringstream ss(args);
     stringstream ss2f;
     vector<string> tokens;
@@ -725,15 +728,15 @@ void SvrHandling::SetAccel(SocketObject& client, string& args)
         ss2f.flush();
         ss2f.clear();
         ss2f << buf;
-        ss2f >> temp[i];
+        ss2f >> newAcceleration;
         i++;
     }
-    if ((temp[0] < 1)||(temp[0]>100))
+    if ((newAcceleration < 1.0f)||(newAcceleration >100.0f))
     {
         client.Send(SVR_FALSE_RSP);
             return;
     }
-    ACCELARATION = temp[0];
+    SvrData::getInstance()->setRobotAcceleration(newAcceleration);
     client.Send(SVR_TRUE_RSP);
     __SVR_CURRENT_JOB = false;
 }