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...	...	@@ -134,7 +134,7 @@
134	134	| |[[**Q**uery **M**otion **T**ime>>doc:||anchor="HMotionTime"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMT|(% style="text-align:center" %) | |0.01s|
135	135	| |[[**Q**uery **C**urrent **S**peed>>doc:||anchor="HCurrentSpeed"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | |0.01°/s|
136	136	| |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
137		-| |[[**H**alt & Hold>>doc:||anchor="HHalt&Hold"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion and holds last position
	137	+| |[[**H**alt & Hold>>doc:||anchor="HHalt26Hold28H29"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion and holds last position
138	138
139	139	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]]
140	140	|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
...	...	@@ -359,13 +359,10 @@
359	359	)))
360	360
361	361	|(% colspan="2" %)(((
362		-====== __(Relative) Move in Degrees__ ======
	362	+====== __Relative **M**ove in **D**egrees (**MD**)__ ======
363	363	)))
364	364	|(% style="width:30px" %) |(((
365	365	(% class="wikigeneratedid" %)
366		-Move in Degrees (**MD**)
367		-
368		-(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
369	369	Example: #5M1500<cr>
370	370
371	371	(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
...	...	@@ -373,11 +373,9 @@
373	373	)))
374	374
375	375	|(% colspan="2" %)(((
376		-====== __Query Status__ ======
	373	+====== __**Q**uery Status (**Q**)__ ======
377	377	)))
378	378	|(% style="width:30px" %) |(((
379		-Query Status (**Q**)
380		-
381	381	The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
382	382
383	383	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
...	...	@@ -409,7 +409,7 @@
409	409	)))
410	410
411	411	|(% colspan="2" %)(((
412		-====== __Motion Time__ ======
	407	+====== __**Q**uery** M**otion **T**ime (**QMT**)__ ======
413	413	)))
414	414	|(% style="width:30px" %) |(((
415	415
...	...	@@ -416,7 +416,7 @@
416	416	)))
417	417
418	418	|(% colspan="2" %)(((
419		-====== __Current Speed__ ======
	414	+====== __**Q**uery** C**urrent **S**peed (**QCS**)__ ======
420	420	)))
421	421	|(% style="width:30px" %) |(((
422	422
...	...	@@ -423,11 +423,9 @@
423	423	)))
424	424
425	425	|(% colspan="2" %)(((
426		-====== __Limp__ ======
	421	+====== __**L**imp (**L**)__ ======
427	427	)))
428	428	|(% style="width:30px" %) |(((
429		-Limp (**L**)
430		-
431	431	Example: #5L<cr>
432	432
433	433	This action causes the servo to go "limp". The microcontroller will still be powered, but the motor will not. As an emergency safety feature, should the robot not be doing what it is supposed to or risks damage, use the broadcast ID to set all servos limp #254L<cr>.
...	...	@@ -434,11 +434,9 @@
434	434	)))
435	435
436	436	|(% colspan="2" %)(((
437		-====== __Halt & Hold__ ======
	430	+====== __**H**alt & Hold (**H**)__ ======
438	438	)))
439	439	|(% style="width:30px" %) |(((
440		-Halt & Hold (**H**)
441		-
442	442	Example: #5H<cr>
443	443
444	444	This command causes the servo to stop immediately and hold that angular position. It overrides whatever the servo might be doing at the time the command is received (accelerating, travelling, deccelerating, etc.)