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...	...	@@ -12,180 +12,57 @@
12	12	= Features =
13	13
14	14
15		-<direct commands>
	15	+= User Guide =
16	16
17		-* Does not require ‘#’ and ‘\r’ chars, example for #254Q\r the user should enter 254Q.
18		-* The replies of the query commands are shown in the text field below.
19		-* The commands are validated, and it shows a notification in case of error.
20		-* Supported commands:
	17	+== Emergencies ==
21	21
22		-Action:
	19	+When an emergency occur the user will have three choices:
23	23
24		- # Communication setup
	21	+**HALT & HOLD**
	22	+Will stop all motions on every joints and hold them in their last positions.
25	25
26		- RESET = "RESET"
	24	+**LIMP**
	25	+All joints will go limp which mean there will be nothing avoiding them to turn freely. The internal mechanism of the LSS-P actuators does have some back driving forces but it will make the arm fall if this is engaged.
27	27
28		- DEFAULT_CONFIGURATION = "DEFAULT"
	27	+**POWER SUPPLY EMERGENCY**
	28	+A push to cut power button is located on the power supply which will indeed cut all actuator from receiving their power. This will also make the arm fall.
29	29
30		- FIRMWARE_UPDATE_MODE = "UPDATE"
	30	+== Arm connection ==
31	31
32		- CONFIRM_CHANGES = "CONFIRM"
	32	+Model
33	33
34		- # Motion
	34	+Serial COM Port
35	35
36		- POSITION = "D"
	36	+Connect
37	37
38		- MOVE_DEGREES = "MD"
	38	+== Gripper connection ==
39	39
40		- WHEEL_MODE_DEGREES = "WD"
	40	+Model
41	41
42		- WHEEL_MODE_RPM = "WR"
	42	+Serial COM Port
43	43
44		- HALT_AND_HOLD = "H"
	44	+Baudrate
45	45
46		- LIMP = "L"
	46	+Connect
47	47
48		- # Motion setup
	48	+Calibrate
49	49
50		- ORIGIN_OFFSET = "O"
	50	+Speed
51	51
52		- ANGULAR_RANGE = "AR"
	52	+Force
53	53
54		- ANGULAR_ACCELERATION = "AA"
	54	+Open / Close
55	55
56		- ANGULAR_DECELERATION = "AD"
	56	+== Direct Command ==
57	57
58		- GYRE_DIRECTION = "G"
	58	+This section allow the user to send commands using the [[doc:ses-pro.lss-pro.lss-p-communication-protocol.WebHome]] directly if required.
59	59
60		- MAX_SPEED_DEGREES = "SD"
	60	+A few things to keep in mind when using this:
61	61
62		- MAX_SPEED_RPM = "SR"
	62	+* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
	63	+* Sending commands does not require ‘#’ and ‘\r’ chars.
	64	+** example for #2\r you should enter 2Q and press the "SEND" button
	65	+* The commands are validated, and it shows a notification in case of error.
	66	+* The replies of queries are shown in the text field below.
63	63
64		- # RGB LED
65		-
66		- LED_COLOR = "LED"
67		-
68		- Query:
69		-
70		- # Communication setup
71		-
72		- ID_NUMBER = "QID"
73		-
74		- ENABLE_CAN_TERMINAL = "QET"
75		-
76		- USB_CONNECTION_STATUS = "QUC"
77		-
78		- # Motion
79		-
80		- POSITION = "QD"
81		-
82		- WHEEL_MODE_DEGREES = "QWD"
83		-
84		- WHEEL_MODE_RPM = "QWR"
85		-
86		- MOTION_STATUS = "Q"
87		-
88		- MOTION_TIME = "QMT"
89		-
90		- CURRENT_SPEED = "QCS"
91		-
92		-
93		- # Telemetry
94		-
95		- MODEL_STRING = "QMS"
96		-
97		- FIRMWARE_VERSION = "QF"
98		-
99		- SERIAL_NUMBER = "QN"
100		-
101		- TEMP_CONTROLLER_ERROR = "QTCE"
102		-
103		- TEMP_CONTROLLER_WARNING = "QTCW"
104		-
105		- CURRENT = "QC"
106		-
107		- ACCX = "QIX"
108		-
109		- ACCY = "QIY"
110		-
111		- ACCZ = "QIZ"
112		-
113		- ACCALPHA = "QIA"
114		-
115		- ACCBETA = "QIB"
116		-
117		- ACCGAMMA = "QIG"
118		-
119		- TEMPMCU = "QTM"
120		-
121		- TEMPPROBE = "QTP"
122		-
123		- TEMPPCB = "QT"
124		-
125		- ERROR_FLAGS = "QEF"
126		-
127		-
128		- # RGB LED
129		-
130		- LED_COLOR = "QLED"
131		-
132		- LED_BLINKING = "QLB"
133		-
134		- LED_INDICATOR = "QLI"
135		-
136		-
137		- # Motion setup
138		-
139		- ORIGIN_OFFSET = "QO"
140		-
141		- ANGULAR_RANGE = "QAR"
142		-
143		- ANGULAR_ACCELERATION = "QAA"
144		-
145		- ANGULAR_DECELERATION = "QAD"
146		-
147		- GYRE_DIRECTION = "QG"
148		-
149		- MAX_SPEED_DEGREES = "QSD"
150		-
151		- MAX_SPEED_RPM = "QSR"
152		-
153		-
154		- Conf:
155		-
156		- # Communication setup
157		-
158		- ID_NUMBER = "CID"
159		-
160		- ENABLE_CAN_TERMINAL = "CET"
161		-
162		- USB_CONNECTION_STATUS = "CUC"
163		-
164		- # Motion setup
165		-
166		- MAX_SPEED_DEGREES = "CSD"
167		-
168		- MAX_SPEED_RPM = "CSR"
169		-
170		- ORIGIN_OFFSET = "CO"
171		-
172		- ANGULAR_RANGE = "CAR"
173		-
174		- ANGULAR_ACCELERATION = "CAA"
175		-
176		- ANGULAR_DECELERATION = "CAD"
177		-
178		- GYRE_DIRECTION = "CG"
179		-
180		- # RGB LED
181		-
182		- LED_COLOR = "CLED"
183		-
184		- LED_BLINKING = "CLB"
185		-
186		-
187		- Modifier:
188		-
189		- SPEED = "SD"
190		-
191		-* ** TIME = "T"**
	68	+