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...	...	@@ -197,7 +197,14 @@
197	197	|(% colspan="2" %)(((
198	198	====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
199	199	)))
200		-|(% style="width:30px" %) |(((
	200	+| |(((
	201	+Ex: #5RESET<cr>
	202	+
	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	+
201	201	(% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
202	202
203	203	(% 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.
...	...	@@ -207,12 +207,9 @@
207	207	(% 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.
208	208
209	209	(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
210		-)))
211	211
212		-|(% colspan="2" %)(((
213	213	====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
214		-)))
215		-|(% style="width:30px" %) |(((
	219	+
216	216	(% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
217	217
218	218	(% 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.
...	...	@@ -222,22 +222,16 @@
222	222	(% 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.
223	223
224	224	(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
225		-)))
226	226
227		-|(% colspan="2" %)(((
228	228	====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
229		-)))
230		-|(% style="width:30px" %) |(((
	231	+
231	231	(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
232	232
233	233	(% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
234	234	Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
235		-)))
236	236
237		-|(% colspan="2" %)(((
238	238	====== (% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__(%%) ======
239		-)))
240		-|(% style="width:30px" %) |(((
	238	+
241	241	(% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
242	242
243	243	(% style="color:inherit; font-family:inherit" %)Ex: #0CID5<cr>
...	...	@@ -249,12 +249,9 @@
249	249	Ex: #254QID<cr> might return *254QID5<cr>
250	250
251	251	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.
252		-)))
253	253
254		-|(% colspan="2" %)(((
255	255	====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__(%%) ======
256		-)))
257		-|(% style="width:30px" %) |(((
	252	+
258	258	Query Enable CAN Terminal Resistor (**QET**)
259	259
260	260	Ex: #5QET<cr> might return *QET0<cr>
...	...	@@ -266,27 +266,20 @@
266	266	(% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
267	267
268	268	(% 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.
269		-)))
270	270
271		-|(% colspan="2" %)(((
272	272	====== __USB Connection Status (**UC**)__ ======
273		-)))
274		-|(% style="width:30px" %) |(((
	266	+
275	275	Query USB Connection Status (**QUC**)
276	276
277	277	Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
278		-)))
279	279
280		-|(% colspan="2" %)(((
281	281	====== __Firmware Release (**FR**)__ ======
282		-)))
283		-|(% style="width:30px" %) |(((
	272	+
284	284	Query Firmware Release (**QFR**)
285	285
286	286	Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
287	287
288	288	This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
289		-)))
290	290
291	291	== Motion ==
292	292