Index: trunk/MagicSoft/Cosy/devdrv/macs.cc
===================================================================
--- trunk/MagicSoft/Cosy/devdrv/macs.cc	(revision 8865)
+++ trunk/MagicSoft/Cosy/devdrv/macs.cc	(revision 8866)
@@ -606,5 +606,5 @@
 void Macs::SetAcceleration(LWORD_t acc)
 {
-    gLog << dbg << "- Setting acceleration to: " << vel << endl;
+    gLog << dbg << "- Setting acceleration to: " << acc << endl;
     SendSDO(0x2003, 0, acc);  // acceleration
     WaitForSdo(0x2003, 0);
@@ -613,5 +613,5 @@
 void Macs::SetDeceleration(LWORD_t dec)
 {
-    gLog << dbg << "- Setting deceleration to: " << vel << endl;
+    gLog << dbg << "- Setting deceleration to: " << dec << endl;
     SendSDO(0x2003, 1, dec);
     WaitForSdo(0x2003, 1);
@@ -635,5 +635,5 @@
 void Macs::StartRelPos(LWORDS_t pos)
 {
-    if (!fIsArmed)
+    if (!fArmed)
     {
         gLog << err << GetNodeName() << ": ERROR - Moving without being armed is not allowed." << endl;
@@ -648,9 +648,10 @@
 void Macs::StartAbsPos(LWORDS_t pos)
 {
-    if (!fIsArmed)
+    if (!fArmed)
     {
         gLog << err << GetNodeName() << ": ERROR - Moving without being armed is not allowed." << endl;
         return;
     }
+
     gLog << dbg << GetNodeName() << ": Starting relative positioning by " << (LWORD_t)pos << " ticks." << endl;
     SendSDO(0x6004, 0, (LWORD_t)pos);