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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|[[**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
	158	+|15d|[[**M**otion **C**ontrol>>||anchor="H15d:MotionControl28MC29"]]|MC|QMC| | | ✓|none|MC0 to disable motion control, MC1 to enable. Session specific
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 **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | | none (string)| Recommended to determine the model|
	166	+| 23|[[**M**odel **String**>>||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)|
...	...	@@ -201,8 +201,6 @@
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		-
206	206	====== __4. Speed (**S**)__ ======
207	207
208	208	Example: #5P1500S750<cr>
...	...	@@ -420,7 +420,7 @@
420	420
421	421	{More details to come}
422	422
423		-====== __15d: Motion Control (**EM**)__ ======
	421	+====== __15d: Motion Control (**MC**)__ ======
424	424
425	425	{More details to come}
426	426
...	...	@@ -565,12 +565,12 @@
565	565	|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
566	566	|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
567	567	|ex: *5Q4<cr>|Traveling|Moving at a stable speed
568		-|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
	566	+|ex: *5Q5<cr>|Deccelerating|Decreasing speed towards travel speed towards rest
569	569	|ex: *5Q6<cr>|Holding|Keeping current position
570	570	|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
571		-|ex: *5Q8<cr>|Outside limits|{More details coming soon}
	569	+|ex: *5Q8<cr>|Outside limits|More details coming soon
572	572	|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
573		-|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
	571	+|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maxiumum duty and still cannot move (i.e.: stalled)
574	574
575	575	====== __27. Query Voltage (**QV**)__ ======
576	576