diff --git a/README.md b/README.md
index 16969d0..cdb2c00 100644
--- a/README.md
+++ b/README.md
@@ -202,4 +202,28 @@ Moving to a position target:
 
 Setting a velocity target:  
 `./caput DSM:m0.VELO 0.5		#Sets velocity target to 0.5 mm/s`  
-(Note that velocity targets are appropriate only. They adjust the step rate of the motor and are not guaranteed to be exact.)
\ No newline at end of file
+(Note that velocity targets are appropriate only. They adjust the step rate of the motor and are not guaranteed to be exact.)
+
+A note aboue velocity targets
+-----------------------------
+The I-20 motor driven by the MD-90 is a closed loop "step and repeat" motor that takes full steps towards its position target until it is
+close, then will perform linear extensions to close the loop on the target position. This is handled internally on the MD-90, not by
+EPICS.
+
+The Velocity target parameter sets the step frequency
+at which the motor operates on its way to the target position. The speed is not closed loop, and will depend on external loads, environmental
+conditions, etc. A speed target of 1 mm/s will generate a roughly 1 mm/s motion, but it is not guaranteed.
+
+Additionally, due to the way EPICS operates, setting VELO will not immediately send a command to the MD90. Instead, EPICS remembers the last value you set, and will set this new
+velocity target when it sends the next move command. **However, the motor must not be in servo mode to accept a new velocity target.**
+
+The motor enters servo mode when you send a new position target, and stays in servo mode until you issue a Stop command 
+(by setting the `DSM:m0.STOP` parameter to 1).
+
+If you do not disable servo prior to issuing a Move command at the new velocity, then VELO will become out of sync with the actual motor
+velocity, and EPICS will return error 3 "Cannot execute while moving" in its console each time you issue a Move command.
+This is because each Move command internally sends a "Set step frequenc" command, which will error if you do not Stop the motor first.
+Reading the VELO parameter at this point will return the wrong value- it returns the value you requested, not the actual speed setting
+on the motor.
+To fix this, you must Stop the motor, then send a new Move command. At 
+