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...	...	@@ -18,13 +18,13 @@
18	18
19	19	When an emergency occur the user will have three choices:
20	20
21		-HALT & HOLD
	21	+**HALT & HOLD**
22	22	Will stop all motions on every joints and hold them in their last positions.
23	23
24		-LIMP
	24	+**LIMP**
25	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	26
27		-POWER SUPPLY EMERGENCY
	27	+**POWER SUPPLY EMERGENCY**
28	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	30	== Arm connection ==
...	...	@@ -31,10 +31,28 @@
31	31
32	32	Model
33	33
	34	+Serial COM Port
	35	+
	36	+Connect
	37	+
34	34	== Gripper connection ==
35	35
36	36	Model
37	37
	42	+Serial COM Port
	43	+
	44	+Baudrate
	45	+
	46	+Connect
	47	+
	48	+Calibrate
	49	+
	50	+Speed
	51	+
	52	+Force
	53	+
	54	+Open / Close
	55	+
38	38	== Direct Command ==
39	39
40	40	This section allow the user to send commands using the [[doc:ses-pro.lss-pro.lss-p-communication-protocol.WebHome]] directly if required.