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...	...	@@ -170,9 +170,9 @@
170	170
171	171	QTCE: Queries the temperature status of the motor controller (over-temp error)
172	172	)))
173		-| |[[**Q**uery **I**MU Linear **X**>>doc:||anchor="HQueryIMULinear29QIXQIYQIZ29"]]|(% 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="HQueryIMULinear29QIXQIYQIZ29"]]|(% 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="HQueryIMULinear29QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
	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	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	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	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)
...	...	@@ -185,13 +185,26 @@
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__(%%) ======
	199	+)))
	200	+| |(((
	201	+Ex: #5RESET<cr>
194	194
	203	+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.
	204	+)))
	205	+
	206	+====== ======
	207	+
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.
...	...	@@ -566,10 +566,12 @@
566	566
567	567	Ex:
568	568
569		-====== __Query Temp of Controller (**QTCW**, **QTCE**)__ ======
	582	+====== __Query Temp of Controller (**QTCW**)__ ======
570	570
571	571	Ex:
572	572
	586	+An alternative is QTCE
	587	+
573	573	====== __Query Current (**QC**)__ ======
574	574
575	575	Ex: #5QC<cr> might return *5QC140<cr>
...	...	@@ -594,13 +594,13 @@
594	594
595	595	The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
596	596
597		-====== __Query IMU Linear (**QIX**, **QIY**, **QIZ**)__ ======
	612	+====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
598	598
599	599	Ex: #6QIX<cr> might return *6QIX30<cr>
600	600
601	601	This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
602	602
603		-__Query IMU Angular (**QIA**, **QIB**, **QIC**)__
	618	+====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ======
604	604
605	605	Ex: #6QIB<cr> might return *6QIB44<cr>
606	606