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...	...	@@ -14,22 +14,37 @@
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15	15	= User Guide =
16	16
17		-Arm connection
	17	+== Emergencies ==
18	18
19		-Model
	19	+When an emergency occur the user will have three choices:
20	20
21		-Gripper connection
	21	+HALT & HOLD
	22	+Will stop all motions on every joints and hold them in their last positions.
22	22
	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	+== Arm connection ==
	31	+
23	23	Model
24	24
	34	+== Gripper connection ==
25	25
	36	+Model
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	38	+== Direct Command ==
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28		-<direct commands>
	40	+This section allow the user to send commands using the [[doc:ses-pro.lss-pro.lss-p-communication-protocol.WebHome]] directly if required.
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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.
	42	+A few things to keep in mind when using this:
	43	+
	44	+* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
	45	+* Sending commands does not require ‘#’ and ‘\r’ chars.
	46	+** example for #2\r you should enter 2Q and press the "SEND" button
32	32	* The commands are validated, and it shows a notification in case of error.
33		-* Supported commands:
	48	+* The replies of queries are shown in the text field below.
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