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...	...	@@ -462,52 +462,33 @@
462	462
463	463	== Modifiers ==
464	464
465		-====== __Speed (**S**, **SD**) modifier__ ======
	465	+====== __Speed (**SD**) modifier__ ======
466	466
467		-{{html clean="false" wiki="true"}}
468		-<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
469		-Example: #5P1500S750&lt;cr&gt;<div class="wikimodel-emptyline"></div>
470		-Modifier (S) is only for a position (P) action and determines the speed of the move in microseconds per second. A speed of 750 microseconds would cause the servo to rotate from its current position to the desired position at a speed of 750 microseconds per second. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.<div class="wikimodel-emptyline"></div>
471		-Example: #5D0SD180&lt;cr&gt;<div class="wikimodel-emptyline"></div>
472		-Modifier (SD) is only for a position (D) or relative position (MD) action and determines the speed of the move in tenths of degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 18 degrees per second.<div class="wikimodel-emptyline"></div>
473		-Query Speed (**QS**)<div class="wikimodel-emptyline"></div>
474		-Example: #5QS&lt;cr&gt; might return *5QS300&lt;cr&gt;<div class="wikimodel-emptyline"></div>
475		-This command queries the current speed in microseconds per second.<div class="wikimodel-emptyline"></div>
476		-</div></div>
477		-{{/html}}
	467	+(% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
	468	+Example: #5D0SD180<cr>
478	478
479		-====== __Timed move (**T**) modifier__ ======
	470	+(% class="wikigeneratedid" %)
	471	+Modifier (SD) is only for a position (D) or relative position (MD) action and determines the speed of the move in tenths of degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 18 degrees per second.
480	480
481		-{{html wiki="true" clean="false"}}
482		-<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
483		-Example: #5P1500T2500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	473	+(% class="wikigeneratedid" %)
	474	+Query Speed (**QS**)
484	484
485		-Timed move can be used only as a modifier for a position (P, D, MD) actions. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. The onboard controller will attempt to ensure that the move is performed entirely at the desired velocity, though differences in torque may cause it to not be exact. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.<div class="wikimodel-emptyline"></div>
486		-**Note:** If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested.<div class="wikimodel-emptyline"></div>
487		-</div></div>
488		-{{/html}}
	476	+(% class="wikigeneratedid" %)
	477	+Example: #5QS<cr> might return *5QS300<cr>
489	489
490		-====== __Current Halt & Hold (**CH**) modifier__ ======
	479	+(% class="wikigeneratedid" %)
	480	+This command queries the current speed in microseconds per second.
491	491
492		-{{html wiki="true" clean="false"}}
493		-<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
494		-Example: #5D1423CH400&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	482	+(% class="wikigeneratedid" %)
	483	+====== __Timed move (**T**) modifier__ ======
495	495
496		-This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately halt and hold position.<div class="wikimodel-emptyline"></div>
497		-This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div>
498		-</div></div>
499		-{{/html}}
	485	+Example: #5D15000T2500<cr>
500	500
501		-====== __Current Limp (**CL**) modifier__ ======
	487	+Timed move can be used only as a modifier for a position (D, MD) actions. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. The onboard controller will attempt to ensure that the move is performed entirely at the desired velocity, though differences in torque may cause it to not be exact. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
502	502
503		-{{html wiki="true" clean="false"}}
504		-<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
505		-Example: #5D1423CL400&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	489	+**Note:** If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested
506	506
507		-This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately go limp.<div class="wikimodel-emptyline"></div>
508		-This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div>
509		-</div></div>
510		-{{/html}}
	491	+====== ======
511	511
512	512	== Telemetry ==
513	513