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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**
...	...	@@ -289,11 +289,9 @@
289	289	== Motion ==
290	290
291	291	|(% colspan="2" %)(((
292		-====== __Position in Degrees__ ======
	292	+====== __Position in **D**egrees (**D**)__ ======
293	293	)))
294	294	|(% style="width:30px" %) |(((
295		-Position in Degrees (**D**)
296		-
297	297	Example: #5D1456<cr>
298	298
299	299	This moves the servo to an angle of 145.6 degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) could also be used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle (absolute position) as -900, except the servo would move in a different direction.
...	...	@@ -314,18 +314,18 @@
314	314	)))
315	315
316	316	|(% colspan="2" %)(((
317		-====== __(Relative) Move in Degrees__ ======
	315	+====== __Relative **M**ove in **D**egrees (**MD**)__ ======
318	318	)))
319	319	|(% style="width:30px" %) |(((
320		-Move in Degrees (**MD**)
	318	+(% class="wikigeneratedid" %)
	319	+Example: #5M1500<cr>
321	321
322		-Example: #5MD123<cr>
323		-
324		-The relative move command causes the servo to read its current position and move the specified number of tenths of degrees in the corresponding position. For example if the servo is set to rotate CW (default) and an MD command of 123 is sent to the servo, it will cause the servo to rotate clockwise by 12.3 degrees. Negative commands would cause the servo to rotate in the opposite configured direction.
	321	+(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
	322	+The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction.
325	325	)))
326	326
327	327	|(% colspan="2" %)(((
328		-====== __Wheel Mode in Degrees__ ======
	326	+====== __**W**heel Mode in **D**egrees (**WD**)__ ======
329	329	)))
330	330	|(% style="width:30px" %) |(((
331	331	Wheel mode in Degrees (**WD**)
...	...	@@ -342,7 +342,7 @@
342	342	)))
343	343
344	344	|(% colspan="2" %)(((
345		-====== __Wheel Mode in RPM__ ======
	343	+====== __**W**heel Mode in **R**PM (**WR**)__ ======
346	346	)))
347	347	|(% style="width:30px" %) |(((
348	348	Wheel moed in RPM (**WR**)
...	...	@@ -359,25 +359,9 @@
359	359	)))
360	360
361	361	|(% colspan="2" %)(((
362		-====== __(Relative) Move in Degrees__ ======
	360	+====== __**Q**uery Status (**Q**)__ ======
363	363	)))
364	364	|(% style="width:30px" %) |(((
365		-(% class="wikigeneratedid" %)
366		-Move in Degrees (**MD**)
367		-
368		-(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
369		-Example: #5M1500<cr>
370		-
371		-(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
372		-The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction.
373		-)))
374		-
375		-|(% colspan="2" %)(((
376		-====== __Query Status__ ======
377		-)))
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__ ======
	394	+====== __**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__ ======
	401	+====== __**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__ ======
	408	+====== __**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__ ======
	417	+====== __**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.)