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...	...	@@ -40,7 +40,7 @@
40	40	| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-limp.png"/}}|(((
41	41	**Limp**
42	42
43		-All joints will go limp which mean there will be nothing avoiding them to turn freely (potentially causing the arm to fall). The high gear ratio of the strain wave gearing does mean there is some (low) level of resistant to rotation, but the gears and motor are nto "locked" and as such, the arm may fall. The corresponding command is #254L<cr>.
	43	+All joints will go limp which mean there will be nothing avoiding them to turn freely (potentially causing the arm to fall). The high gear ratio of the strain wave gearing does mean there is some (low) level of resistant to rotation, but the gears and motor are not "locked" and as such, the arm may fall. The corresponding command is #254L<cr>.
44	44	)))
45	45	| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-emergency.png"/}}|(((
46	46	**Software E-Stop**
...	...	@@ -124,17 +124,26 @@
124	124	| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-position.png"/}}|(((
125	125	**Position**
126	126
127		-
	127	+Actual opening of the gripper in percent.
	128	+
	129	+* The field can be clicked and changed using a keyboard followed by an "ENTER" entry.
	130	+* Using the + and - signs will change the value incrementally.
128	128	)))
129	129	| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-speed.png"/}}|(((
130	130	**Speed**
131	131
132		-The speed of motion can be adjusted either via the plus or minus buttons or entering a value between 0 and 100 and pressing enter.
	135	+Speed at which the gripper will travel.
	136	+
	137	+* The field can be clicked and changed using a keyboard followed by an "ENTER" entry.
	138	+* Using the + and - signs will change the value incrementally.
133	133	)))
134	134	| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-force.png"/}}|(((
135	135	**Force**
136	136
137		-The maximum force exerted by the gripper can be adjusted either via the plus or minus buttons or entering a value between 0 and 100 and pressing enter.
	143	+Maximum force exerted by the gripper
	144	+
	145	+* The field can be clicked and changed using a keyboard followed by an "ENTER" entry.
	146	+* Using the + and - signs will change the value incrementally.
138	138	)))
139	139	| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-open-close.png"/}}|(((
140	140	**Open / Close**
...	...	@@ -174,8 +174,8 @@
174	174
175	175	In Joints mode, the user can control the angle of each joint.
176	176
177		-* The field can be clicked and changed using a keyboard.
178		-* Using the + and - sings will move by the amount specified in the drop down menu.
	186	+* The field can be clicked and changed using a keyboard followed by an "ENTER" entry.
	187	+* Using the + and - signs will change the value incrementally by the amount specified in the drop down menu.
179	179	* The RESET button will send the arm to Zero on all joints
180	180	)))
181	181	| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-coordinates.png"/}}|(((