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...	...	@@ -171,12 +171,13 @@
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|[[**C**hange to** RC**>>||anchor="H27.ConfigureRCMode28CRC29"]]| | |CRC|✓| | ✓|none|(% style="width:510px" %)(((
175		-Change to RC mode 1 (position) or 2 (wheel).
	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.
176	176	)))|(% style="text-align:center; width:113px" %)Serial
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" %)
	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" %)
180	180
181	181	== Advanced ==
182	182
...	...	@@ -492,7 +492,7 @@
492	492
493	493	This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
494	494
495		-====== __21. Query Serial Number (**QN**)__ ======
	496	+====== __241. Query Serial Number (**QN**)__ ======
496	496
497	497	Ex: #5QN<cr> might return *5QN~_~_<cr>
498	498
...	...	@@ -539,7 +539,7 @@
539	539
540	540	The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
541	541
542		-====== __27. Configure RC Mode (**CRC**)__ ======
	543	+====== __27 / 28. RC Mode (**CRC**)__ ======
543	543
544	544	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.
545	545
...	...	@@ -551,15 +551,13 @@
551	551
552	552	EX: #5CRC<cr>
553	553
554		-====== ======
	555	+====== __29. **RESET**__ ======
555	555
556		-====== __28. **RESET**__ ======
557		-
558	558	Ex: #5RESET<cr> or #5RS<cr>
559	559
560	560	This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
561	561
562		-====== __29. **DEFAULT** & CONFIRM__ ======
	561	+====== __30. **DEFAULT** & CONFIRM__ ======
563	563
564	564	Ex: #5DEFAULT<cr>
565	565
...	...	@@ -571,7 +571,7 @@
571	571
572	572	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
573	573
574		-====== __30. **UPDATE** & CONFIRM__ ======
	573	+====== __31. **UPDATE** & CONFIRM__ ======
575	575
576	576	Ex: #5UPDATE<cr>
577	577
...	...	@@ -611,7 +611,7 @@
611	611
612	612	Writes the desired angular stiffness value to memory.
613	613
614		-====== __A2. Angular Holding Stiffness (**AH**)__ ======
	613	+====== __A2. Angular Holding Stiffness (**AH**)__ ======
615	615
616	616	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.
617	617