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...	...	@@ -131,7 +131,7 @@
131	131	|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
132	132	| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
133	133	| 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| H| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
134		-| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29"]]| T| | | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD}|(% style="text-align:center; width:113px" %)
	134	+| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29modifier"]]| T| | | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD}|(% style="text-align:center; width:113px" %)
135	135	| 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | | | ✓|microseconds per second|(% style="width:510px" %) Modifier only {P}|(% style="text-align:center; width:113px" %)
136	136	| 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| MD| | | | | ✓|tenths of degrees (ex 325 = 32.5 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
137	137	| 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| O| QO|CO|✓| ✓| ✓|tenths of degrees (ex 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
...	...	@@ -437,7 +437,7 @@
437	437
438	438	Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus will be assigned that ID. In most situations each servo must be set a unique ID, which means each servo must be connected individually to the serial bus and receive a unique CID number. It is best to do this before the servos are added to an assembly. Numbered stickers are provided to distinguish each servo after their ID is set, though you are free to use whatever alternative method you like. The servo must be RESET or power cycled in order for the new ID to take effect.
439	439
440		-====== __17. Baud Rate (B)__ ======
	440	+====== __17. Baud Rate__ ======
441	441
442	442	A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 9600. Since smart servos are intended to be daisy chained, in order to respond to the same serial bus, all servos in a project should ideally be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9600 bps, 19200 bps, 38400 bps, 57600 bps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above.
443	443
...	...	@@ -487,31 +487,25 @@
487	487
488	488	This configuration command means the servo, when set to smart mode, will immediately move to 6.4 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up.
489	489
490		-====== __23. Query Model String (**QMS**)__ ======
	490	+====== __20. Query Model String (**QMS**)__ ======
491	491
492	492	Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
493	493
494	494	This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
495	495
496		-====== __23b. Query Model (**QM**)__ ======
	496	+====== __241. Query Serial Number (**QN**)__ ======
497	497
498		-Ex: #5QM<cr> might return *5QM68702699520cr>
499		-
500		-This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
501		-
502		-====== __24. Query Serial Number (**QN**)__ ======
503		-
504	504	Ex: #5QN<cr> might return *5QN~_~_<cr>
505	505
506	506	The number in the response is the servo's serial number which is set and cannot be changed.
507	507
508		-====== __25. Query Firmware (**QF**)__ ======
	502	+====== __22. Query Firmware (**QF**)__ ======
509	509
510	510	Ex: #5QF<cr> might return *5QF11<cr>
511	511
512	512	The integer in the reply represents the firmware version with one decimal, in this example being 1.1
513	513
514		-====== __26. Query Status (**Q**)__ ======
	508	+====== __23. Query Status (**Q**)__ ======
515	515
516	516	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
517	517
...	...	@@ -528,25 +528,25 @@
528	528	|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
529	529	|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
530	530
531		-====== __27. Query Voltage (**QV**)__ ======
	525	+====== __24. Query Voltage (**QV**)__ ======
532	532
533	533	Ex: #5QV<cr> might return *5QV11200<cr>
534	534
535	535	The number returned has one decimal, so in the case above, servo with ID 5 has an input voltage of 11.2V (perhaps a three cell LiPo battery).
536	536
537		-====== __28. Query Temperature (**QT**)__ ======
	531	+====== __25. Query Temperature (**QT**)__ ======
538	538
539	539	Ex: #5QT<cr> might return *5QT564<cr>
540	540
541	541	The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.
542	542
543		-====== __29. Query Current (**QC**)__ ======
	537	+====== __26. Query Current (**QC**)__ ======
544	544
545	545	Ex: #5QC<cr> might return *5QC140<cr>
546	546
547	547	The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
548	548
549		-====== __30. RC Mode (**CRC**)__ ======
	543	+====== __27 / 28. RC Mode (**CRC**)__ ======
550	550
551	551	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.
552	552
...	...	@@ -558,13 +558,13 @@
558	558
559	559	EX: #5CRC<cr>
560	560
561		-====== __31. RESET__ ======
	555	+====== __29. **RESET**__ ======
562	562
563	563	Ex: #5RESET<cr> or #5RS<cr>
564	564
565	565	This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
566	566
567		-====== __32. DEFAULT & CONFIRM__ ======
	561	+====== __30. **DEFAULT** & CONFIRM__ ======
568	568
569	569	Ex: #5DEFAULT<cr>
570	570
...	...	@@ -576,7 +576,7 @@
576	576
577	577	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
578	578
579		-====== __33. UPDATE & CONFIRM__ ======
	573	+====== __31. **UPDATE** & CONFIRM__ ======
580	580
581	581	Ex: #5UPDATE<cr>
582	582