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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="HHalt26Hold28H29"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion and holds last position
	137	+| |[[**H**alt & Hold>>||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**
...	...	@@ -149,7 +149,7 @@
149	149
150	150	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
151	151	|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Modifier**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
152		-| |[[**S**peed in **D**egrees>>doc:||anchor="HSpeed28SD29modifier"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°/s|For D and MD action commands
	152	+| |[[**S**peed in **D**egrees>>||anchor="HSpeed28S2CSD29modifier"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°/s|For D and MD action commands
153	153	| |[[**T**imed move>>||anchor="HTimedmove28T29modifier"]]|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) | |ms|Time associated with D, MD commands
154	154
155	155	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]]
...	...	@@ -423,9 +423,11 @@
423	423	)))
424	424
425	425	|(% colspan="2" %)(((
426		-====== __**L**imp (**L**)__ ======
	426	+====== __Limp__ ======
427	427	)))
428	428	|(% style="width:30px" %) |(((
	429	+Limp (**L**)
	430	+
429	429	Example: #5L<cr>
430	430
431	431	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>.
...	...	@@ -432,9 +432,11 @@
432	432	)))
433	433
434	434	|(% colspan="2" %)(((
435		-====== __**H**alt & Hold (**H**)__ ======
	437	+====== __Halt & Hold__ ======
436	436	)))
437	437	|(% style="width:30px" %) |(((
	440	+Halt & Hold (**H**)
	441	+
438	438	Example: #5H<cr>
439	439
440	440	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.)
...	...	@@ -698,17 +698,17 @@
698	698	)))
699	699
700	700	|(% colspan="2" %)(((
701		-====== __**Q**uery **T**emp **C**ontroller **E**rror (**QTCE**)__ ======
	705	+====== __Query Temp Controller Error (**QTCE**)__ ======
702	702	)))
703	703	|(% style="width:30px" %) |(((
704		-====== ======
	708	+
705	705	)))
706	706
707	707	|(% colspan="2" %)(((
708		-====== **Q**uery **T**emp **C**ontroller **W**arning (**QTCW**) ======
	712	+====== __Query Temp Controller Warning (**QTCW**)__ ======
709	709	)))
710	710	|(% style="width:30px" %) |(((
711		-====== ======
	715	+
712	712	)))
713	713
714	714	|(% colspan="2" %)(((