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...	...	@@ -14,22 +14,73 @@
14	14
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
23		-Model
	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.
24	24
	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.
25	25
	30	+(% class="wikigeneratedid" %)
	31	+== 3D Model ==
26	26
	33	+**Control the View**
27	27
28		-<direct commands>
	35	+== Arm connection ==
29	29
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.
	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
32	32	* The commands are validated, and it shows a notification in case of error.
33		-* Supported commands:
	78	+* The replies of queries are shown in the text field below.
34	34
	80	+== Telemetry ==
	81	+
	82	+**Data to Display**
	83	+
	84	+**Display / Hide Actuator**
	85	+
35	35