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...	...	@@ -283,13 +283,14 @@
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284	284	Ex: #5QSD<cr> might return *5QSD1800<cr>
285	285
286		-By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever a SD command is processed.
	286	+By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever a SD/SR command is processed.
287	287	If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
288	288
289		-no param = session max velocity
290		-1 = configured max velocity
291		-2 = current velocity
292		-3 = target/travel velocity (temporary until next motion command)
	289	+|**Command sent**|**Returned value (1/10 °)**
	290	+|ex: #5QSD<cr>|Current session value for maximum speed (set by latest SD/SR command)
	291	+|ex: #5QSD1<cr>|Current maximum speed configured (set by CSD/CSR)
	292	+|ex: #5QSD2<cr>|Current speed.
	293	+|ex: #5QSD3<cr>|Target travel speed.
293	293
294	294	Configure Speed in Degrees (**CSD**)
295	295
...	...	@@ -307,13 +307,20 @@
307	307
308	308	Ex: #5QSR<cr> might return *5QSR45<cr>
309	309
310		-Note that the QSD query will return the current servo speed. Querying the last maximum speed value set using SR or CSR is not possible.
	311	+By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever a SD/SR command is processed.
	312	+If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
311	311
312		-Configure Speed in Degrees (**CSR**)
	314	+|**Command sent**|**Returned value (1/10 °)**
	315	+|ex: #5QSR<cr>|Current session value for maximum speed (set by latest SD/SR command)
	316	+|ex: #5QSR1<cr>|Current maximum speed configured (set by CSD/CSR)
	317	+|ex: #5QSR2<cr>|Current speed.
	318	+|ex: #5QSR3<cr>|Target travel speed.
313	313
	320	+Configure Speed in RPM (**CSR**)
	321	+
314	314	Ex: #5CSR45<cr>
315	315
316		-Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
	324	+Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
317	317
318	318	__14. Rigidity (R)__
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