Index: trunk/Cosy/devdrv/dkc.cc
===================================================================
--- trunk/Cosy/devdrv/dkc.cc	(revision 12586)
+++ trunk/Cosy/devdrv/dkc.cc	(revision 12587)
@@ -78,6 +78,6 @@
                  case 0xe8260: return "Torque limit active";
     case 0xe264: return "Target position out of numerical range";
-    case 0xe829: return "Positive position limit exceeded";
-    case 0xe830: return "Negative position limit exceeded";
+    case 0xe829: case 0xe8029: return "Positive position limit exceeded";
+    case 0xe830: case 0xe8030: return "Negative position limit exceeded";
     case 0xe831: return "Position limit reached during jog";
     case 0xe834: return "Emergency-Stop";
@@ -94,4 +94,5 @@
     case 0xf228: case 0xf2028: return "Excessive control deviation";
     case 0xf250: return "Overflow of target position preset memory";
+    case 0xf257: return "Command position out of range";
     case 0xf269: return "Error during release of the motor holding brake";
     case 0xf276: return "Absolute encoder out of allowed window";
@@ -441,4 +442,10 @@
     SendSDO(0x3007, (LWORD_t)cvel);
     WaitForSdo(0x3007);
+}
+
+void Dkc::SetLedVoltage(LWORDS_t volt)
+{
+    SendSDO(0x4000, (LWORD_t)volt);
+    WaitForSdo(0x4000);
 }
 
Index: trunk/Cosy/devdrv/dkc.h
===================================================================
--- trunk/Cosy/devdrv/dkc.h	(revision 12586)
+++ trunk/Cosy/devdrv/dkc.h	(revision 12587)
@@ -97,4 +97,5 @@
     void SetRpmMode(BYTE_t mode=TRUE);
     void SetRpmVelocity(LWORDS_t cvel);
+    void SetLedVoltage(LWORDS_t cvel);
 
     void StartRelPos(LWORDS_t pos);