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...	...	@@ -140,14 +140,8 @@
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		-| |(% 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" %)
	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|
151	151	| |[[**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)
152	152	| |[[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
153	153	| |[[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
...	...	@@ -339,9 +339,6 @@
339	339
340	340	Ex: #5WD90<cr>
341	341
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		-
345	345	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).
346	346
347	347	Query Wheel Mode in Degrees (**QWD**)
...	...	@@ -359,9 +359,6 @@
359	359
360	360	Ex: #5WR40<cr>
361	361
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		-
365	365	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).
366	366
367	367	Query Wheel Mode in RPM (**QWR**)
...	...	@@ -495,9 +495,6 @@
495	495	Configure Angular Range (**CAR**)
496	496
497	497	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**.
501	501	)))
502	502
503	503	|(% colspan="2" %)(((