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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.
...	...	@@ -222,23 +222,15 @@
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		-====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
239		-)))
240		-|(% style="width:30px" %) |(((
241		-This assigns ID #5 to the servo previously assigned to ID 0
	237	+====== (% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__(%%) ======
242	242
243	243	(% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
244	244
...	...	@@ -251,12 +251,9 @@
251	251	Ex: #254QID<cr> might return *254QID5<cr>
252	252
253	253	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.
254		-)))
255	255
256		-|(% colspan="2" %)(((
257		-====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
258		-)))
259		-|(% style="width:30px" %) |(((
	251	+====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__(%%) ======
	252	+
260	260	Query Enable CAN Terminal Resistor (**QET**)
261	261
262	262	Ex: #5QET<cr> might return *QET0<cr>
...	...	@@ -268,27 +268,20 @@
268	268	(% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
269	269
270	270	(% 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.
271		-)))
272	272
273		-|(% colspan="2" %)(((
274		-====== __USB Connection Status__ ======
275		-)))
276		-|(% style="width:30px" %) |(((
	265	+====== __USB Connection Status (**UC**)__ ======
	266	+
277	277	Query USB Connection Status (**QUC**)
278	278
279	279	Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
280		-)))
281	281
282		-|(% colspan="2" %)(((
283		-====== __Firmware Release__ ======
284		-)))
285		-|(% style="width:30px" %) |(((
	271	+====== __Firmware Release (**FR**)__ ======
	272	+
286	286	Query Firmware Release (**QFR**)
287	287
288	288	Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
289	289
290	290	This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
291		-)))
292	292
293	293	== Motion ==
294	294