Yaskawa MotionWorks IEC Hardware - Manual (Page 29)

MotionWorks IEC Hardware Configuration – 2013-03-26 26
1.8.3 Limits
Set the soft position, torque, and velocity limits for the application. The
Yaskawa system provides some redundancy for torque and velocity
limits. In addition to the Servopack speed and torque limits shown below
(Pn402, 403, and 407, the MPiec controller can limit position, speed and
torque via parameters settable by MC_WriteParameter. Please check the
PLCopen help documentation for details.