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...	...	@@ -372,19 +372,13 @@
372	372	|(% style="width:25px" %) |***Value returned (Q)**|**Status**|**Detailed description**
373	373	| |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
374	374	| |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
375		-| |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command
376		-| |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
377		-| |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
378		-| |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
379		-| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will normally be holding)
380		-| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
381		-| |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
382		-| |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
383		-| |ex: *5Q10<cr>|10: Safe Mode|(((
384		-A safety limit has been exceeded (temperature, peak current or extended high current draw).
	375	+| |ex: *5Q2<cr>|2: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
	376	+| |ex: *5Q3<cr>|3: Traveling|Moving at a stable speed
	377	+| |ex: *5Q4<cr>|4: Decelerating|Decreasing from travel speed towards final position.
	378	+| |ex: *5Q5<cr>|5: Holding|Keeping current position (in EM0 mode, return will normally be holding)
	379	+| |ex: *5Q6<cr>|6: Error|If the status is Error, the error value consists of binary flags ([[HERE>>doc:||anchor="HErrorFlag"]])
385	385
386		-Send a Q1 command to know which limit has been reached (described below).
387		-)))
	381	+*Value returned (Q)StatusDetailed description
388	388
389	389	If a safety limit has been reached and exceeded, the LED will flash red and the servo will stop providing torque (no longer react to commands which cause the motor to rotate). In order to determine which limit has been reached, send a Q1 command. The servo must be RESET in order to return to normal operation, though if a limit is still detected (for example the servo is still too hot), it will revert back to Safe Mode.
390	390
...	...	@@ -400,6 +400,10 @@
400	400	)))
401	401	|(% style="width:30px" %) |(((
402	402	Query Motion Time (**QMT**)
	397	+
	398	+Ex: #5QMT9000<cr> might return *5QMT1000<cr>, which indicates the motor would take 1.000s to do that movement.
	399	+
	400	+This is really important for movement using the modifier "T" as asking a movement that could not be achieved in the time asked will result in no movement.
403	403	)))
404	404
405	405	|(% colspan="2" %)(((
...	...	@@ -407,6 +407,8 @@
407	407	)))
408	408	|(% style="width:30px" %) |(((
409	409	Query Current Speed (**QCS**)
	408	+
	409	+Ex: #5QCS<cr> might return *5QCS1245<cr>, which indicate the actuator is moving currently at 12deg/s.
410	410	)))
411	411
412	412	|(% colspan="2" %)(((
...	...	@@ -730,6 +730,10 @@
730	730	)))
731	731	|(% style="width:30px" %) |(((
732	732	Query Temp motor Probe (**QTP**)
	733	+
	734	+Ex: #5QTP<cr> might return *5QTP564<cr>
	735	+
	736	+The units are in tenths of degrees Celcius, so in the example above, the servo's motor temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.
733	733	)))
734	734
735	735	|(% colspan="2" %)(((
...	...	@@ -737,6 +737,10 @@
737	737	)))
738	738	|(% style="width:30px" %) |(((
739	739	Query Temp MCU (**QTM**)
	744	+
	745	+Ex: #5QTM<cr> might return *5QTM564<cr>
	746	+
	747	+The units are in tenths of degrees Celcius, so in the example above, the servo's microcontroller temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.
740	740	)))
741	741
742	742	|(% colspan="2" %)(((
...	...	@@ -760,6 +760,23 @@
760	760	)))
761	761	|(% style="width:30px" %) |(((
762	762	Query Error Flag (**QEF**)
	771	+
	772	+|(% style="width:25px" %) |***Value returned (QEF)**|**Status**|**Detailed description**
	773	+| |ex: *5QEF0<cr>|0: LSSP_ERROR_BITS_PCBOverTemerature|
	774	+| |ex: *5QEF1<cr>|1: LSSP_ERROR_BITS_MCUOverTemerature|
	775	+| |ex: *5QEF2<cr>|2: LSSP_ERROR_BITS_MotorProbeOverTemerature|
	776	+| |ex: *5QEF3<cr>|3: LSSP_ERROR_BITS_MotorDriverOverTemerature|
	777	+| |ex: *5QEF4<cr>|4: LSSP_ERROR_BITS_Blocked|
	778	+| |ex: *5QEF5<cr>|5: LSSP_ERROR_BITS_ExceedSpeedLimit|
	779	+| |ex: *5QEF6<cr>|6: LSSP_ERROR_BITS_ExceedAccelLimit|
	780	+| |ex: *5QEF7<cr>|7: LSSP_ERROR_BITS_ExceedDecelLimit|
	781	+| |ex: *5QEF8<cr>|8: LSSP_ERROR_BITS_CurrentPositionOutOfRangePlus|
	782	+| |ex: *5QEF9<cr>|9: LSSP_ERROR_BITS_CurrentPositionOutOfRangeMinus|
	783	+| |ex: *5QEF10<cr>|10: LSSP_ERROR_BITS_EEPROMHeaderDataError|
	784	+| |ex: *5QEF11<cr>|11: LSSP_ERROR_BITS_EEPROMCheckSumError|
	785	+| |ex: *5QEF12<cr>|12: LSSP_ERROR_BITS_EEPROMMapVersionIsNotSupported|
	786	+
	787	+
763	763	)))
764	764
765	765	|(% colspan="2" %)(((