This one worked out.

I tested Jog, and there is no difference, so in world mode Jog is still at 
max_velocity

Here you can check if I did correct modification in control.c
http://pastebin.com/HLLq5VFu


>
> try without modbus
>
> ./configure --enable-run-in-place --without-libmodbus
>                                         
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