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...	...	@@ -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**)__ ======