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...	...	@@ -12,180 +12,24 @@
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	+Arm connection
21	21
22		-Action:
	19	+Model
23	23
24		- # Communication setup
	21	+Gripper connection
25	25
26		- RESET = "RESET"
	23	+Model
27	27
28		- DEFAULT_CONFIGURATION = "DEFAULT"
29	29
30		- FIRMWARE_UPDATE_MODE = "UPDATE"
31	31
32		- CONFIRM_CHANGES = "CONFIRM"
33	33
34		- # Motion
	28	+<direct commands>
35	35
36		- POSITION = "D"
	30	+* Does not require ‘#’ and ‘\r’ chars, example for #254Q\r the user should enter 254Q.
	31	+* The replies of the query commands are shown in the text field below.
	32	+* The commands are validated, and it shows a notification in case of error.
	33	+* Supported commands:
37	37
38		- MOVE_DEGREES = "MD"
39		-
40		- WHEEL_MODE_DEGREES = "WD"
41		-
42		- WHEEL_MODE_RPM = "WR"
43		-
44		- HALT_AND_HOLD = "H"
45		-
46		- LIMP = "L"
47		-
48		- # Motion setup
49		-
50		- ORIGIN_OFFSET = "O"
51		-
52		- ANGULAR_RANGE = "AR"
53		-
54		- ANGULAR_ACCELERATION = "AA"
55		-
56		- ANGULAR_DECELERATION = "AD"
57		-
58		- GYRE_DIRECTION = "G"
59		-
60		- MAX_SPEED_DEGREES = "SD"
61		-
62		- MAX_SPEED_RPM = "SR"
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"
	35	+