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...	...	@@ -12,11 +12,75 @@
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.
	17	+== Emergencies ==
	18	+
	19	+When an emergency occur the user will have three choices:
	20	+
	21	+**HALT & HOLD**
	22	+Will stop all motions on every joints and hold them in their last positions.
	23	+
	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.
	26	+
	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	+
	30	+(% class="wikigeneratedid" %)
	31	+== 3D Model ==
	32	+
	33	+**Control the View**
	34	+
	35	+== Arm connection ==
	36	+
	37	+**Model**
	38	+
	39	+**Serial COM Port**
	40	+
	41	+**Connect**
	42	+
	43	+== Gripper connection ==
	44	+
	45	+**Model**
	46	+
	47	+**Serial COM Port**
	48	+
	49	+**Baudrate**
	50	+
	51	+**Connect**
	52	+
	53	+**Calibrate**
	54	+
	55	+**Speed**
	56	+
	57	+**Force**
	58	+
	59	+**Open / Close**
	60	+
	61	+(% class="wikigeneratedid" %)
	62	+== Manual Moves ==
	63	+
	64	+**Joints Control**
	65	+
	66	+**Coordinates Control**
	67	+
	68	+== Direct Command ==
	69	+
	70	+This section allow the user to send commands using the [[doc:ses-pro.lss-pro.lss-p-communication-protocol.WebHome]] directly if required.
	71	+
	72	+A few things to keep in mind when using this:
	73	+
	74	+* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
	75	+* Sending commands does not require ‘#’ and ‘\r’ chars.
	76	+** example for #2\r you should enter 2Q and press the "SEND" button
19	19	* The commands are validated, and it shows a notification in case of error.
20		-* Supported commands:
	78	+* The replies of queries are shown in the text field below.
21	21
	80	+== Telemetry ==
	81	+
	82	+**Data to Display**
	83	+
	84	+**Display / Hide Actuator**
	85	+
22	22