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...	...	@@ -171,13 +171,12 @@
171	171	| 24|[[**V**oltage>>||anchor="H24.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
172	172	| 25|[[**T**emperature>>||anchor="H25.QueryTemperature28QT29"]]| | QT| | | | ✓|tenths of degrees Celsius|(% style="width:510px" %)Max temp before error: 85°C (servo goes limp)|(% style="text-align:center; width:113px" %)
173	173	| 26|[[**C**urrent>>||anchor="H26.QueryCurrent28QC29"]]| | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
174		-| 27|[[**RC** Mode>>||anchor="H2728.RCMode28CRC29"]] - Position| | |CRC1|✓| | ✓|none|(% style="width:510px" %)(((
175		-Change to RC position mode. To revert to smart mode, use the button menu.
	174	+| 27|[[**C**hange to** RC**>>||anchor="H27.ConfigureRCMode28CRC29"]]| | |CRC|✓| | ✓|none|(% style="width:510px" %)(((
	175	+Change to RC mode 1 (position) or 2 (wheel).
176	176	)))|(% style="text-align:center; width:113px" %)Serial
177		-| 28|[[**RC** Mode>>||anchor="H2728.RCMode28CRC29"]] - Wheel| | |CRC2|✓| | ✓| |(% style="width:510px" %)Change to RC wheel mode. To revert to smart mode, use the button menu.|(% style="text-align:center; width:113px" %)Serial
178		-| 29|[[**RESET**>>||anchor="H29.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
179		-| 30|[[**DEFAULT**>>||anchor="H30.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
180		-| 31|[[**UPDATE**>>||anchor="H31.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
	177	+| 28|[[**RESET**>>||anchor="H28.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
	178	+| 29|[[**DEFAULT**>>||anchor="H29.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
	179	+| 30|[[**UPDATE**>>||anchor="H30.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
181	181
182	182	== Advanced ==
183	183
...	...	@@ -493,7 +493,7 @@
493	493
494	494	This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
495	495
496		-====== __241. Query Serial Number (**QN**)__ ======
	495	+====== __21. Query Serial Number (**QN**)__ ======
497	497
498	498	Ex: #5QN<cr> might return *5QN~_~_<cr>
499	499
...	...	@@ -540,7 +540,7 @@
540	540
541	541	The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
542	542
543		-====== __27 / 28. RC Mode (**CRC**)__ ======
	542	+====== __27. Configure RC Mode (**CRC**)__ ======
544	544
545	545	This command puts the servo into RC mode (position or continuous), where it will only respond to RC pulses. Note that because this is the case, the servo will no longer accept serial commands. The servo can be placed back into smart mode by using the button menu.
546	546
...	...	@@ -552,13 +552,15 @@
552	552
553	553	EX: #5CRC<cr>
554	554
555		-====== __29. **RESET**__ ======
	554	+====== ======
556	556
	556	+====== __28. **RESET**__ ======
	557	+
557	557	Ex: #5RESET<cr> or #5RS<cr>
558	558
559	559	This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
560	560
561		-====== __30. **DEFAULT** & CONFIRM__ ======
	562	+====== __29. **DEFAULT** & CONFIRM__ ======
562	562
563	563	Ex: #5DEFAULT<cr>
564	564
...	...	@@ -570,7 +570,7 @@
570	570
571	571	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
572	572
573		-====== __31. **UPDATE** & CONFIRM__ ======
	574	+====== __30. **UPDATE** & CONFIRM__ ======
574	574
575	575	Ex: #5UPDATE<cr>
576	576
...	...	@@ -610,7 +610,7 @@
610	610
611	611	Writes the desired angular stiffness value to memory.
612	612
613		-====== __A2. AngularHoldingStiffness (**AH**)__ ======
	614	+====== __A2. Angular Holding Stiffness (**AH**)__ ======
614	614
615	615	The angular holding stiffness determines the servo's ability to hold a desired position under load. Values can be from -10 to 10, with the default being 0. Note that negative values mean the final position can be easily deflected.
616	616