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...	...	@@ -372,13 +372,19 @@
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 ([[HERE>>doc:||anchor="HErrorFlag"]])
	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).
380	380
381		-*Value returned (Q)StatusDetailed description
	386	+Send a Q1 command to know which limit has been reached (described below).
	387	+)))
382	382
383	383	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.
384	384
...	...	@@ -394,10 +394,6 @@
394	394	)))
395	395	|(% style="width:30px" %) |(((
396	396	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.
401	401	)))
402	402
403	403	|(% colspan="2" %)(((
...	...	@@ -405,8 +405,6 @@
405	405	)))
406	406	|(% style="width:30px" %) |(((
407	407	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" %)(((
...	...	@@ -730,10 +730,6 @@
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.
737	737	)))
738	738
739	739	|(% colspan="2" %)(((
...	...	@@ -741,10 +741,6 @@
741	741	)))
742	742	|(% style="width:30px" %) |(((
743	743	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.
748	748	)))
749	749
750	750	|(% colspan="2" %)(((
...	...	@@ -753,11 +753,6 @@
753	753	|(% style="width:30px" %) |(((
754	754	(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
755	755	Query Temp Controller Error (**QTCE**)
756		-
757		-
758		-
759		-(% class="wikigeneratedid" %)
760		-Returns the value of the "ot" bit of the motor driver's DRV_STATUS register (addr: 0x6F). If the response is 1, the motor driver has detected overtemperature (over 150℃).
761	761	)))
762	762
763	763	|(% colspan="2" %)(((
...	...	@@ -766,10 +766,6 @@
766	766	|(% style="width:30px" %) |(((
767	767	(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
768	768	Query Temp Controller Warning (**QTCW**)
769		-
770		-
771		-(% class="wikigeneratedid" %)
772		-Returns the value of the "otpw" bit of the motor driver's DRV_STATUS register (addr: 0x6F). If the response is 1, the motor driver has detected overtemperature pre-warning (over 120℃).
773	773	)))
774	774
775	775	|(% colspan="2" %)(((
...	...	@@ -777,24 +777,6 @@
777	777	)))
778	778	|(% style="width:30px" %) |(((
779	779	Query Error Flag (**QEF**)
780		-
781		-Ex: #5QEF<cr> might return *5QEF64<cr>
782		-
783		-
784		-|(% style="width:25px" %) |***Value returned (QEF)**|**Status**|**Detailed description**
785		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_PCBOverTemerature|
786		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_MCUOverTemerature|
787		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_MotorProbeOverTemerature|
788		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_MotorDriverOverTemerature|
789		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_Blocked|
790		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_ExceedSpeedLimit|
791		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_ExceedAccelLimit|
792		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_ExceedDecelLimit|
793		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_CurrentPositionOutOfRangePlus|
794		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_CurrentPositionOutOfRangeMinus|
795		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_EEPROMHeaderDataError|
796		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_EEPROMCheckSumError|
797		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_EEPROMMapVersionIsNotSupported|
798	798	)))
799	799
800	800	|(% colspan="2" %)(((