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...	...	@@ -149,7 +149,7 @@
149	149	| |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|No value|1/10°|Reset required after change.
150	150	| |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees28SD29"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|Max|0.1°/s|SD overwrites SR / CSD overwrites CSR and vice-versa
151	151	| |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM28SR29"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa
152		-| |[[Step Mode>>doc:||anchor="HStepMode"]]|(% style="text-align:center" %)SM|(% style="text-align:center" %)QM|(% style="text-align:center" %)CSM|2|1, 2, 4|Numbers represent fractions: full step, ½ step, ¼ step
	152	+| |[[Step Mode>>doc:||anchor="HStepMode28SM29"]]|(% style="text-align:center" %)SM|(% style="text-align:center" %)QM|(% style="text-align:center" %)CSM|2|1, 2, 4|Numbers represent fractions: full step, ½ step, ¼ step
153	153
154	154	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
155	155	|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Modifier**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
...	...	@@ -163,19 +163,19 @@
163	163	| |[[**Q**uery **M**odel **S**tring>>||anchor="HQueryModelString28QMS29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) | | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
164	164	| |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
165	165	| |[[**Q**uery Serial **N**umber>>||anchor="HQuerySerialNumber28QN29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | | |Returns the unique serial number for the servo
166		-| |**Q**uery **T**emperature **P**robe|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to stepper motor
167		-| |**Q**uery **T**emp of **C**ontroller|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
	166	+| |[[**Q**uery **T**emperature **P**robe>>doc:||anchor="HQueryTemperatureProbe28QTP29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to the stepper motor
	167	+| |[[**Q**uery **T**emp of **M**CU>>doc:||anchor="HQueryMCUTemperature28QTM29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | | |
	168	+| |[[**Q**uery **T**emp of **C**ontroller>>doc:||anchor="HQueryTempofController28QTCW29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
168	168	QTCW: Queries the temperature status of the motor controller (pre-warning)
169	169
170	170	QTCE: Queries the temperature status of the motor controller (over-temp error)
171	171	)))
172		-| |**Q**uery **C**urrent **S**peed |(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | | |Queries the motor controller's calculated speed
173		-| |**Q**uery **I**MU Linear **X**|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
174		-| |**Q**uery **I**MU Linear **Y**|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
175		-| |**Q**uery **I**MU Linear **Z**|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
176		-| |**Q**uery **I**MU Angular Accel **α** |(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
177		-| |**Q**uery **I**MU Angular Accel **β**|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
178		-| |**Q**uery **I**MU Angular Accel **γ**|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
	173	+| |[[**Q**uery **I**MU Linear **X**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
	174	+| |[[**Q**uery **I**MU Linear **Y**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
	175	+| |[[**Q**uery **I**MU Linear **Z**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
	176	+| |[[**Q**uery **I**MU Angular Accel **α** >>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
	177	+| |[[**Q**uery **I**MU Angular Accel **β**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
	178	+| |[[**Q**uery **I**MU Angular Accel **γ**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
179	179
180	180	|(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
181	181	|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
...	...	@@ -185,13 +185,19 @@
185	185
186	186	== (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
187	187
188		-====== (% style="color:inherit; font-family:inherit" %)__Reset__(%%) ======
	188	+|(% colspan="2" %)(((
	189	+====== __Reset__ ======
	190	+)))
	191	+| |(((
	192	+Ex: #5RESET<cr>
189	189
190		-(% style="color:inherit; font-family:inherit" %)Ex: #5RESET<cr>
191		-This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). Note: after a RESET command is received, the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See Session, note #2 for more details.
	194	+This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). Note: after a RESET command is received, the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See Session, note #2 for more details.
	195	+)))
192	192
	197	+|(% colspan="2" %)(((
193	193	====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
194		-
	199	+)))
	200	+| |(((
195	195	(% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
196	196
197	197	(% style="color:inherit; font-family:inherit" %)This command sets in motion the reset of all values to the default values included with the version of the firmware installed on that servo. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the DEFAULT function.
...	...	@@ -201,9 +201,12 @@
201	201	(% style="color:inherit; font-family:inherit" %)Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will exit the command.
202	202
203	203	(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	210	+)))
204	204
	212	+|(% colspan="2" %)(((
205	205	====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
206		-
	214	+)))
	215	+| |(((
207	207	(% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
208	208
209	209	(% style="color:inherit; font-family:inherit" %)This command sets in motion the equivalent of a long button press when the servo is not powered in order to enter firmware update mode. This is useful should the button be broken or inaccessible. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the UPDATE function.
...	...	@@ -213,16 +213,18 @@
213	213	(% style="color:inherit; font-family:inherit" %)Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.
214	214
215	215	(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	225	+)))
216	216
217		-====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
218		-
	227	+|(% colspan="2" %)(% style="color:inherit; font-family:inherit" %)__Confirm__
	228	+|(% style="width:30px" %) |(((
219	219	(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
220	220
221	221	(% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
222	222	Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	233	+)))
223	223
224		-====== (% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__(%%) ======
225		-
	235	+|(% colspan="2" %)(% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__
	236	+|(% style="width:30px" %) |(((
226	226	(% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
227	227
228	228	(% style="color:inherit; font-family:inherit" %)Ex: #0CID5<cr>
...	...	@@ -234,9 +234,10 @@
234	234	Ex: #254QID<cr> might return *254QID5<cr>
235	235
236	236	In this case, the broadcast ID is used to ensure the servo connected will reply with the ID. This can be used in case the ID assigned to a servo is forgotten.
	248	+)))
237	237
238		-====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__(%%) ======
239		-
	250	+|(% colspan="2" %)(% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__
	251	+|(% style="width:30px" %) |(((
240	240	Query Enable CAN Terminal Resistor (**QET**)
241	241
242	242	Ex: #5QET<cr> might return *QET0<cr>
...	...	@@ -248,21 +248,37 @@
248	248	(% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
249	249
250	250	(% style="color:inherit; font-family:inherit" %)This commands sets servo with ID 5 as being the last in the CAN Bus. The last servo in a CAN bus must be configured this way.
	263	+)))
251	251
252		-====== __USB Connection Status (**UC**)__ ======
253		-
	265	+|(% colspan="2" %)__USB Connection Status (**UC**)__
	266	+|(% style="width:30px" %) |(((
254	254	Query USB Connection Status (**QUC**)
255	255
256	256	Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
	270	+)))
257	257
258		-====== __Firmware Release (**FR**)__ ======
259		-
	272	+|(% colspan="2" %)__Firmware Release (**FR**)__
	273	+|(% style="width:30px" %) |(((
260	260	Query Firmware Release (**QFR**)
261	261
262	262	Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
263	263
264	264	This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
	279	+)))
265	265
	281	+====== ======
	282	+
	283	+
	284	+====== ======
	285	+
	286	+
	287	+====== ======
	288	+
	289	+
	290	+====== ======
	291	+
	292	+
	293	+
266	266	== Motion ==
267	267
268	268	====== __Position in Degrees (**D**)__ ======
...	...	@@ -556,23 +556,27 @@
556	556
557	557	== Telemetry ==
558	558
559		-====== __Query Voltage (**QV**)__ ======
	587	+====== __Query PCB Temperature (**QT**)__ ======
560	560
561		-Ex: #5QV<cr> might return *5QV11200<cr>
	589	+Ex: #5QT<cr> might return *5QT564<cr>
562	562
563		-The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.
	591	+The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.
564	564
565		-====== __Query Temperature (**QT**)__ ======
	593	+====== __Query Temperature Probe (**QTP**)__ ======
566	566
567		-Ex: #5QT<cr> might return *5QT564<cr>
	595	+Ex:
568	568
569		-The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.
	597	+====== __Query Temp of Controller (**QTCW**)__ ======
570	570
571		-====== __Query Motor Driver Current (**QC**)__ ======
	599	+Ex:
572	572
	601	+An alternative is QTCE
	602	+
	603	+====== __Query Current (**QC**)__ ======
	604	+
573	573	Ex: #5QC<cr> might return *5QC140<cr>
574	574
575		-The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value.
	607	+The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value. The query calculates the RMS value of the current sent from the motor driver to the stepper motor.
576	576
577	577	====== __Query Model String (**QMS**)__ ======
578	578
...	...	@@ -591,3 +591,17 @@
591	591	Ex: #5QN<cr> might return *5QN12345678<cr>
592	592
593	593	The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
	626	+
	627	+====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
	628	+
	629	+Ex: #6QIX<cr> might return *6QIX30<cr>
	630	+
	631	+This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
	632	+
	633	+====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ======
	634	+
	635	+Ex: #6QIB<cr> might return *6QIB44<cr>
	636	+
	637	+This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
	638	+
	639	+