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143	143	| |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
144	144	| |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
145	145	| |[[**G**yre Direction>>||anchor="HGyreDirection"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|(% style="text-align:center" %)1|(% style="text-align:center" %)1 or -1|Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
	146	+| |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°|Reset required after change.
146	146	| |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s|SD / CSD overwrites SR / CSR
147	147	| |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %) |(% style="text-align:center" %)RPM|SR / CSR overwrites SD / CSD
148	148
...	...	@@ -372,23 +372,20 @@
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: 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
	376	+| |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command
	377	+| |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
	378	+| |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
	379	+| |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
	380	+| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will normally be holding)
	381	+| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
	382	+| |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
	383	+| |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
	384	+| |ex: *5Q10<cr>|10: Safe Mode|(((
	385	+A safety limit has been exceeded (temperature, peak current or extended high current draw).
380	380
381		-|(% style="width:25px" %)
382		-| | | |
383		-| | | |
384		-| | | |
385		-| | | |
386		-| | | |
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388		-| | | |
	387	+Send a Q1 command to know which limit has been reached (described below).
	388	+)))
389	389
390		-*Value returned (Q)StatusDetailed description
391		-
392	392	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.
393	393
394	394	|(% style="width:25px" %) |***Value returned (Q1)**|**Status**|**Detailed description**
...	...	@@ -558,6 +558,25 @@
558	558	)))
559	559
560	560	|(% colspan="2" %)(((
	559	+====== __First Position__ ======
	560	+)))
	561	+|(% style="width:30px" %) |(((
	562	+In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned.
	563	+
	564	+Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800.
	565	+
	566	+Query First Position in Degrees (**QFD**)
	567	+
	568	+Ex: #5QFD<cr> might return *5QFD900<cr>The reply above indicates that servo with ID 5 has a first position of 90.0 degrees. If there is no first position value stored, the reply will be DIS.
	569	+
	570	+Configure First Position in Degrees (**CFD**)
	571	+
	572	+Ex: #5CFD900<cr>
	573	+
	574	+This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD<cr>
	575	+)))
	576	+
	577	+|(% colspan="2" %)(((
561	561	====== __Maximum Speed in Degrees__ ======
562	562	)))
563	563	|(% style="width:30px" %) |(((