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...	...	@@ -155,7 +155,7 @@
155	155	| 15|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
156	156	|15b|[[**A**ngular **A**cceleration>>||anchor="H15b:AngularAcceleration28AA29"]]|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
157	157	|15c|[[**A**ngular **D**eceleration>>||anchor="H15c:AngularDeceleration28AD29"]]|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared
158		-|15d|[[**M**otion **C**ontrol>>||anchor="H15d:MotionControl28MC29"]]|MC|QMC| | | ✓|none|MC0 to disable motion control, MC1 to enable. Session specific
	158	+|15d|[[**E**nable **M**otion control>>||anchor="H15d:MotionControl28MC29"]]|EM|QEM| | | ✓|none|EM0 to disable motion control, EM1 to enable. Session specific / does not survive power cycles
159	159	| 16|[[**LED** Color>>||anchor="H16.RGBLED28LED29"]]| LED| QLED| CLED| ✓| ✓| none (integer from 1 to 8)|0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6=MAGENTA, 7=WHITE
160	160	| 17|[[**ID** #>>||anchor="H17.IdentificationNumber"]]| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
161	161	| 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | ✓| none (integer)|
...	...	@@ -163,7 +163,7 @@
163	163	| 20|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | ✓| ✓| none |
164	164	| 21|[[**F**irst Position (**D**egrees)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| ✓| ✓| none |
165	165	| 22|[[**T**arget (**D**egree) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
166		-| 23|[[**M**odel **String**>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | | none (string)| Recommended to determine the model|
	166	+| 23|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | | none (string)| Recommended to determine the model|
167	167	| 23b|[[**M**odel>>||anchor="H23b.QueryModel28QM29"]]| | QM| | | | none (integer)| Returns a raw value representing the three model inputs (36 bit)|
168	168	| 24|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | | none (integer)|
169	169	| 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | | none (integer)|
...	...	@@ -201,6 +201,8 @@
201	201
202	202	Timed move can be used only as a modifier for a position (P) action. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
203	203
	204	+Note: If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested.
	205	+
204	204	====== __4. Speed (**S**)__ ======
205	205
206	206	Example: #5P1500S750<cr>
...	...	@@ -418,7 +418,7 @@
418	418
419	419	{More details to come}
420	420
421		-====== __15d: Motion Control (**MC**)__ ======
	423	+====== __15d: Motion Control (**EM**)__ ======
422	422
423	423	{More details to come}
424	424
...	...	@@ -563,12 +563,12 @@
563	563	|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
564	564	|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
565	565	|ex: *5Q4<cr>|Traveling|Moving at a stable speed
566		-|ex: *5Q5<cr>|Deccelerating|Decreasing speed towards travel speed towards rest
	568	+|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
567	567	|ex: *5Q6<cr>|Holding|Keeping current position
568	568	|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
569		-|ex: *5Q8<cr>|Outside limits|More details coming soon
	571	+|ex: *5Q8<cr>|Outside limits|{More details coming soon}
570	570	|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
571		-|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maxiumum duty and still cannot move (i.e.: stalled)
	573	+|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
572	572
573	573	====== __27. Query Voltage (**QV**)__ ======
574	574