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...	...	@@ -140,8 +140,14 @@
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**
141	141	| |[[**O**rigin Offset>>||anchor="HOriginOffset"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|(% style="text-align:center" %)0|(% style="text-align:center" %)0.01°|
142	142	| |[[**A**ngular **R**ange>>||anchor="HAngularRange"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|(% style="text-align:center" %)36000|(% style="text-align:center" %)0.01°|
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		-| |[[**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|
	143	+| |(% style="vertical-align:middle" %)[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration"]]|(% style="text-align:center; vertical-align:middle" %)AA|(% style="text-align:center; vertical-align:middle" %)QAA|(% style="text-align:center; vertical-align:middle" %)CAA|(% style="text-align:center; vertical-align:middle" %)(((
	144	+L1: 10000
	145	+S1: 10000
	146	+M1:
	147	+)))|(% style="text-align:center; vertical-align:middle" %)0.01°/s^2|(% style="vertical-align:middle" %)
	148	+| |(% style="vertical-align:middle" %)[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration"]]|(% style="text-align:center; vertical-align:middle" %)AD|(% style="text-align:center; vertical-align:middle" %)QAD|(% style="text-align:center; vertical-align:middle" %)CAD|(% style="text-align:center; vertical-align:middle" %)L1: 10000
	149	+S1: 10000
	150	+M1: |(% style="text-align:center; vertical-align:middle" %)0.01°/s^2|(% style="vertical-align:middle" %)
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	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
...	...	@@ -333,6 +333,9 @@
333	333
334	334	Ex: #5WD90<cr>
335	335
	342	+⚠️ //Note~:// The servo’s **Angular Range (AR)** must be disabled when using Wheel Mode.
	343	+Set AR0 (or CAR0 to save) before sending this command, otherwise the servo **will not rotate**.
	344	+
336	336	This command sets the servo to wheel mode where it will rotate in the desired direction at the selected speed. The example above would have the servo rotate at 90.0 degrees per second clockwise (assuming factory default configurations).
337	337
338	338	Query Wheel Mode in Degrees (**QWD**)
...	...	@@ -350,6 +350,9 @@
350	350
351	351	Ex: #5WR40<cr>
352	352
	362	+⚠️ //Note~:// The servo’s **Angular Range (AR)** must be disabled when using Wheel Mode.
	363	+Set AR0 (or CAR0 to save) before sending this command, otherwise the servo **will not rotate**.
	364	+
353	353	This command sets the servo to wheel mode where it will rotate in the desired direction at the selected rpm. Wheel mode (a.k.a. "continuous rotation") has the servo operate like a geared DC motor. The servo's maximum rpm cannot be set higher than its physical limit at a given voltage. The example above would have the servo rotate at 40 rpm clockwise (assuming factory default configurations).
354	354
355	355	Query Wheel Mode in RPM (**QWR**)
...	...	@@ -483,6 +483,9 @@
483	483	Configure Angular Range (**CAR**)
484	484
485	485	This command allows you to change the total angular range of the servo in tenths of degrees in EEPROM. The setting will be saved upon servo reset / power cycle.
	498	+
	499	+⚠️ //Note~:// Setting AR0 removes angular limits and allows **continuous rotation**.
	500	+This is required for **Wheel Mode (WD / WR)** otherwise the servo **will not move**.
486	486	)))
487	487
488	488	|(% colspan="2" %)(((