diff --git a/Running-Orocos.md b/Running-Orocos.md
index 8f35c4a..1a70101 100644
--- a/Running-Orocos.md
+++ b/Running-Orocos.md
@@ -1,29 +1,31 @@
-If Orocos has been installed in a shellbox, then you can connect to it with:
-
-```
-# to connect to orocos 
-telnet localhost 50001
-# ^x to kill and restart
-# ^d to simply close the telnet connection
-```
-
-Otherwise, Orocos can be started with:
-
-```
-cd ~/work/stxm-test/PixelatorRealtime/startup/PolLux
-
-ulimit -c unlimited
-
-sudo ./startOrocosRT
-```
-
-Once started, you should see a bunch of output scrolling past quickly, firstly loading components, then constructing various devices, including a number of PID loops. Next will be some messages  about Connected Port X to Y, then various devices being "configured" or "started". Finally, it will say that it is "Entering Task Deployer" and present a prompt:
-```
-Deployer [S]>
-```
-
-If you type in the command "PID0", then the Deployer will print the interface of the `PID0` object. Available commands are highlighted in red. For example, `PID0.kI` will print the current value of the 'kI' feedback parameter. The value can be changed with a command such as:
-```
-PID0.kI=0.005
-```
-This value is only temporary and might not be saved when the program exits. It is recommended to then use the `PID0.saveParam` command to write all parameter values for the PID to file.
+If Orocos has been installed in a shellbox, then you can connect to it with:
+
+```
+# to connect to orocos 
+telnet localhost 50001
+# ^x to kill and restart
+# ^d to simply close the telnet connection
+```
+
+Otherwise, Orocos can be started with:
+
+```
+cd ~/work/stxm-test/PixelatorRealtime/startup/PolLux
+
+ulimit -c unlimited
+
+sudo ./startOrocosRT
+```
+
+Once started, you should see a bunch of output scrolling past quickly, firstly loading components, then constructing various devices, including a number of PID loops. Next will be some messages  about Connected Port X to Y, then various devices being "configured" or "started". Finally, it will say that it is "Entering Task Deployer" and present a prompt:
+```
+Deployer [S]>
+```
+
+If you type in the command "PID0", then the Deployer will print the interface of the `PID0` object. Available commands are highlighted in red. For example, `PID0.kI` will print the current value of the 'kI' feedback parameter. The value can be changed with a command such as:
+```
+PID0.kI=0.005
+```
+This value is only temporary and might not be saved when the program exits. It is recommended to then use the `PID0.saveParam` command to write all parameter values for the PID to file.
+
+The typical configuration will have `PID0` for the X-axis, `PID1` for the Y-axis and `PID2` for the Z-axis. Each of these have a `kP`, `kI` and `kD` parameter that can be queried and changed.