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...	...	@@ -182,17 +182,17 @@
182	182
183	183	== Advanced ==
184	184
185		-|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes
186		-| A1|[[**A**ngular **S**tiffness>>||anchor="HA1.AngularStiffness28AS29"]]|AS|QAS|CAS|✓| ✓| ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4
187		-| A2|[[**A**ngular **H**olding Stiffness>>||anchor="HA2.AngularHoldingStiffness28AH29"]]|AH|QAH|CAH|✓| | ✓|none (integer -10 to +10)|(% style="width:510px" %)Effect is different between serial and RC
188		-| A3|[[**A**ngular **A**cceleration>>||anchor="HA3:AngularAcceleration28AA29"]]|AA|QAA|CAA|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared
189		-| A4|[[**A**ngular **D**eceleration>>||anchor="HA4:AngularDeceleration28AD29"]]|AD|QAD|CAD|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared
190		-| A5|[[**E**nable **M**otion Control>>||anchor="HA5:MotionControl28EM29"]]|EM|QEM| | | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable
	185	+|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
	186	+| A1|[[**A**ngular **S**tiffness>>||anchor="HA1.AngularStiffness28AS29"]]|AS|QAS|CAS|✓| ✓| ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4|(% style="text-align:center; width:113px" %)0
	187	+| A2|[[**A**ngular **H**olding Stiffness>>||anchor="HA2.AngularHoldingStiffness28AH29"]]|AH|QAH|CAH|✓| | ✓|none (integer -10 to +10)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)1
	188	+| A3|[[**A**ngular **A**cceleration>>||anchor="HA3:AngularAcceleration28AA29"]]|AA|QAA|CAA|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
	189	+| A4|[[**A**ngular **D**eceleration>>||anchor="HA4:AngularDeceleration28AD29"]]|AD|QAD|CAD|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
	190	+| A5|[[**E**nable **M**otion Control>>||anchor="HA5:MotionControl28EM29"]]|EM|QEM| | | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable|(% style="text-align:center; width:113px" %)
191	191	| A6|[[**C**onfigure **L**ED **B**linking>>||anchor="HA6.ConfigureLEDBlinking28CLB29"]]| | | CLB| | ✓| |none (integer from 0 to 63)|(% style="width:510px" %)(((
192	192	0=No blinking, 63=Always blink;
193	193
194	194	Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
195		-)))
	195	+)))|(% style="text-align:center; width:113px" %)
196	196
197	197	== Details ==
198	198
...	...	@@ -508,7 +508,7 @@
508	508
509	509	====== __23. Query Status (**Q**)__ ======
510	510
511		-The status query described what the servo is currently doing. The query returns an integer which must be looked up in the table below. Use the CLB advanced command to have the LED blink for certain statuses.
	511	+The status query described what the servo is currently doing. The query returns an integer which must be looked up in the table below.
512	512
513	513	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
514	514
...	...	@@ -516,7 +516,7 @@
516	516	|ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
517	517	|ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
518	518	|ex: *5Q2<cr>|2: Free moving|Motor driving circuit is not powered and horn can be moved freely
519		-|ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
	519	+|ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
520	520	|ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
521	521	|ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
522	522	|ex: *5Q6<cr>|6: Holding|Keeping current position
...	...	@@ -523,19 +523,14 @@
523	523	|ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
524	524	|ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
525	525	|ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
526		-|ex: *5Q10<cr>|10: Safe Mode|(((
527		-A safety limit has been exceeded (temperature, peak current or extended high current draw).
	526	+|ex: *5Q10<cr>|10: Safe Mode|A safety limit has been exceeded (temperature, peak current or extended high current draw).
528	528
529		-Send a Q1 command to know which limit has been reached (described below).
530		-)))
531		-
532	532	(% class="wikigeneratedid" %)
533		-If a safety limit has been reached and exceeded, the LED will flash red and the servo will stop providing torque (no longer react to commands which cause the motor to rotate). In order to determine which limit has been reached, send a Q1 command. The servo must be RESET in order to return to normal operation, though if a limit is still detected (for example the servo is still too hot), it will revert back to Safe Mode.
	529	+If a safety limit has been reached, the LED will flash red and the servo will stop providing torque (no longer react to commands which cause the motor to rotate). In order to determine which limit has been reached, send a Q1 command. The servo must be RESET in order to return to normal operation, though if a limit is still detected (for example the servo is still too hot), it will revert back to Safe Mode.
534	534
535	535	|***Value returned (Q1)**|**Status**|**Detailed description**
536		-|ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
537	537	|ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
538		-|ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
	533	+|ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries
539	539	|ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
540	540
541	541	====== __24. Query Voltage (**QV**)__ ======
...	...	@@ -653,32 +653,12 @@
653	653
654	654	====== __A3: Angular Acceleration (**AA**)__ ======
655	655
656		-The default value for angular acceleration is 100, which is the same as the maximum deceleration. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
	651	+{More details to come}
657	657
658		-Ex: #5AA30<cr>
659		-
660		-Query Angular Acceleration (**QAD**)
661		-
662		-Ex: #5QA<cr> might return *5QA30<cr>
663		-
664		-Configure Angular Acceleration (**CAD**)
665		-
666		-Ex: #5CA30<cr>
667		-
668	668	====== __A4: Angular Deceleration (**AD**)__ ======
669	669
670		-The default value for angular deceleration is 100, which is the same as the maximum acceleration. Values between 1 and 15 have the greatest impact.
	655	+{More details to come}
671	671
672		-Ex: #5AD8<cr>
673		-
674		-Query Angular Deceleration (**QAD**)
675		-
676		-Ex: #5QD<cr> might return *5QD8<cr>
677		-
678		-Configure Angular Deceleration (**CAD**)
679		-
680		-Ex: #5CD8<cr>
681		-
682	682	====== __A5: Motion Control (**EM**)__ ======
683	683
684	684	{More details to come}