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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 not "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 nto "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**
...	...	@@ -124,26 +124,17 @@
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		-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.
	127	+
131	131	)))
132	132	| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-speed.png"/}}|(((
133	133	**Speed**
134	134
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.
	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.
139	139	)))
140	140	| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-force.png"/}}|(((
141	141	**Force**
142	142
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.
	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.
147	147	)))
148	148	| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-open-close.png"/}}|(((
149	149	**Open / Close**
...	...	@@ -183,8 +183,8 @@
183	183
184	184	In Joints mode, the user can control the angle of each joint.
185	185
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.
	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.
188	188	* The RESET button will send the arm to Zero on all joints
189	189	)))
190	190	| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-coordinates.png"/}}|(((