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...	...	@@ -14,7 +14,7 @@
14	14
15	15	= Action Commands =
16	16
17		-Action commands tell the servo, within that session, to do something (i.e. "take an action"). The types of action commands which can be sent are described below, and they cannot be combined with other commands such as queries or configurations. Only one action command can be sent at a time. Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or [[virtual positions>>||anchor="HVirtualAngularPosition"]] (described below). Action commands are sent serially to the servo's Rx pin and must be sent in the following format:
	17	+Action commands tell the servo, within that session, to do something (i.e. "take an action"). The types of action commands which can be sent are described below, and they cannot be combined with other commands such as queries or configurations. Only one action command can be sent at a time. Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or [[virtual positions>>||anchor="HVirtualAngularPosition"]] (described below). Action commands are sent serially to the servo and must be sent in the following format:
18	18
19	19	1. Start with a number sign **#** (Unicode Character: U+0023)
20	20	1. Servo ID number as an integer (assigning an ID described below)
...	...	@@ -29,7 +29,7 @@
29	29
30	30	== Modifiers ==
31	31
32		-{{html clean="false" wiki="true" __cke_selected_macro="true"}}
	32	+{{html clean="false" wiki="true"}}
33	33	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
34	34	Modifiers can only be used with certain **action commands**. The format to include a modifier is:<div class="wikimodel-emptyline"></div>
35	35
...	...	@@ -46,8 +46,9 @@
46	46	This results in the servo with ID #5 rotating to a position (1800 in tenths of degrees) of 130.00 degrees in a time ("T") of 1500 milliseconds (1.5 seconds).<div class="wikimodel-emptyline"></div>
47	47	<div class="wikimodel-emptyline"></div></div></div>
48	48
	49	+<h2>Queries</h2>
49	49	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
50		-Query commands request information from the servo. They are received via the Rx pin of the servo, and the servo's reply is sent via the servo's Tx pin. Using separate lines for Tx and Rx is called "full duplex". Query commands are also similar to action and configuration commands and must use the following format:<div class="wikimodel-emptyline"></div>
	51	+Query commands request information from the servo. Query commands are also similar to action and configuration commands and must use the following format:<div class="wikimodel-emptyline"></div>
51	51
52	52	1. Start with a number sign **#** (Unicode Character: U+0023)
53	53	1. Servo ID number as an integer
...	...	@@ -71,10 +71,12 @@
71	71	This indicates that servo #5 is currently at 130.00 degrees (13000 tenths of degrees).
72	72	<div class="wikimodel-emptyline"></div></div></div>
73	73
	75	+<h2>Configurations</h2>
	76	+
74	74	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
75	75	Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM.<div class="wikimodel-emptyline"></div>
76	76
77		-These configurations are retained in memory after the servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not. In the Command table below, the column "Session" denotes if the configuration command affects the session. Not all action commands have a corresponding configuration command and vice versa. More information about which configuration commands are retained when in RC mode can be found on the [[LSS - RC PWM page>>doc:lynxmotion-smart-servo.lss-radio-control-pwm.WebHome]]. Configuration commands are not cumulative. This means that if two of the same configuration commands are sent, one after the next, only the last configuration is used and stored.<div class="wikimodel-emptyline"></div>
	80	+These configurations are retained in memory after the servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not. In the Command table below, the column "Session" denotes if the configuration command affects the session. Not all action commands have a corresponding configuration command and vice versa. Configuration commands are not cumulative; this means that if two of the same configuration commands are sent, one after the next, only the last configuration is used and stored.<div class="wikimodel-emptyline"></div>
78	78
79	79	The format to send a configuration command is identical to that of an action command:<div class="wikimodel-emptyline"></div>
80	80
...	...	@@ -84,9 +84,9 @@
84	84	1. Configuration value in the correct units with no decimal
85	85	1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
86	86
87		-Ex: #5CO-50&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	90	+Ex: #5CO-500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
88	88
89		-This configures an absolute origin offset ("CO") with respect to factory origin of servo with ID #5 and changes the offset for that session to -5.0 degrees (50 tenths of degrees). Once the servo is powered off and on, zeroing the servo will cause it to move to -5.0 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset that clears all configurations (through the button menu or with DEFAULT command described below).<div class="wikimodel-emptyline"></div>
	92	+This configures an absolute origin offset ("CO") with respect to factory origin of servo with ID #5 and changes the offset for that session to -5.00 degrees (500 hundredths of degrees). Once the servo is powered off and on, zeroing the servo will cause it to move to -5.00 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset that clears all configurations (through the button menu or with DEFAULT command described below).<div class="wikimodel-emptyline"></div>
90	90
91	91	**Session vs Configuration Query**<div class="wikimodel-emptyline"></div>
92	92