diff --git a/common/source/docs/common-servo-robotis.rst b/common/source/docs/common-servo-robotis.rst
index 83e0bfbfcb..4ad60fb0da 100644
--- a/common/source/docs/common-servo-robotis.rst
+++ b/common/source/docs/common-servo-robotis.rst
@@ -6,9 +6,9 @@ Robotis Servos
 
 .. image:: ../../../images/servo-robotis.jpg
 
-Robotis Dynamixel servos are relatively expensive but high-end "smart actuators" that can be controlled by ArduPilot once connected to the autopilot's serial port.
+Robotis Dynamixel servos are high-end "smart actuators" featuring built in motion control hardware that can be controlled by ArduPilot once connected to the autopilot's serial port.
 
-Robotis servos using the "`Robotis Protocol version 2.0 <http://emanual.robotis.com/docs/en/dxl/protocol2/>`__" are supported.  Look for "Half duplex Asynchronous Serial Communication" in the "H/W SPECS" section of each servo.  The `XM430-W350-T <http://www.robotis-shop-en.com/?act=shop_en.goods_view&GS=2923&keyword=XM430-W350-T>`__ in particular is known to work correctly with ArduPilot.
+Robotis servos using the "`DYNAMIXEL Protocol 2.0 <http://emanual.robotis.com/docs/en/dxl/protocol2/>`__" are supported. The `XM430-W350-T <https://emanual.robotis.com/docs/en/dxl/x/xm430-w350/>`__ in particular is known to work correctly with ArduPilot.
 
 .. note::
 
@@ -16,25 +16,22 @@ Robotis servos using the "`Robotis Protocol version 2.0 <http://emanual.robotis.
 
 Where to Buy
 ------------
-
-- `Robotis Shop's <http://www.robotis-shop-en.com/?act=main_en>`__ Actuator section
+- `ROBOTIS Global <https://en.robotis.com/shop_en/>`__
+- `ROBOTIS USA <https://www.robotis.us/>`__
+- `ROBOTIS Japan <https://e-shop.robotis.co.jp/`__
 - 1x `U2D2 <http://www.robotis-shop-en.com/?act=shop_en.goods_view&GS=3288&keyword=U2D2>`__ is also recommended to allow easy configuration of the servos (`online manual <http://emanual.robotis.com/docs/en/parts/interface/u2d2/>`__)
 
 Configuring the Servos
 ----------------------
 
-The ID for each servo needs to be set using the R+ Manager configuration tool.
+Before initial use the ID for each servo needs to be set using the DYNAMIXEL Wizard configuration tool.
 
-`DYNAMIXEL Wizard 2.0 <http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/>`__ is the latest DYNAMIXEL configuration tool that supports Windows / Linux / Mac OSX.
+`DYNAMIXEL Wizard 2.0 <http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/>`__ is the latest DYNAMIXEL configuration tool supporting Windows / Linux / Mac OSX.
 
-- Open the `robotis.us/roboplus2 <http://www.robotis.us/roboplus2/>`__ website, in the "R+ Manager 2.0" row, download and install the "2.0.1 Windows (exe)"
+- Visit `ROBOTIS' international download center <https://en.robotis.com/service/downloadpage.php?ca_id=10>`__ to download and install DYNAMIXEL Wizard 2.0"
 - Attach the U2D2 to the servos as described in the `online manual <http://emanual.robotis.com/docs/en/parts/interface/u2d2/>`__
 - Start the R+ Manager, connect to the appropriate COM port and set each servo's ID to a value from 1 to 16.  The number chosen for each servo should correspond to the servo number used to configure and control the servo.  For example if the ID is set to "9", the :ref:`SERVO9_MIN <SERVO9_MIN>`, :ref:`SERVO9_MAX <SERVO9_MAX>`, :ref:`SERVO9_FUNCTION <SERVO9_FUNCTION>`, etc parameters will be used to configure the servo.
 
-.. image:: ../../../images/servo-robotis-rmanager.png
-    :target: ../_images/servo-robotis-rmanager.png
-    :width: 450px
-
 Connecting and Configuring
 --------------------------