I´d like to know if I can make phone calls home from any internet connection using VoIP software. I already have access to my home´s Modem configuration: DNS, End Point, MAC, etc. If so, I have X-Lite installed in my Lap Top, can I configure X-Lite to do this from Internet? Can you tell me how?... Thanks!

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never used Motorola SBV5220
but i have experience using Linksys Voip + PBX
if it has same function and feature then it is possible, just define pbx number to get tune then you`ll be able to call outsite.
You must Gatekeeper Address in X-Lite to Motorola SBV5220 Ip . then define user (number) / password in Motorola for logging in. try to define tune number for pstn.
it has same concept with normal pbx , the different is normal pbx for telephone but voip server + pbx is for pc