   CAN.sendMsgBuf(0x601, 0, 8, set_max_profile_velocity);
   Serial.println("Max Profile Velocity set as 2000rpm");  
   delay(10);
+  CAN.sendMsgBuf(0x601, 0, 8, set_min_position_limit);
+  Serial.println("Min Position Limit defined as -300000qc");  
+  delay(10);
+  CAN.sendMsgBuf(0x601, 0, 8, set_max_position_limit);
+  Serial.println("Min Position Limit defined as 300000qc");  
+  delay(10);  
   State = Pre_Operational;
 }
 

      // ID 321 message has information sent by the amplification board
      // Messages coming from the amp_board has most significative bits coming first
      case 0x321:
        // encoderDataRead();
        encoder_data = buf[4];
        encoder_data <<= 8; // bitshift equals times 2^8

        loadcell_data = loadcell_data | buf[2];
        loadcell_data <<= 8;
        loadcell_data = loadcell_data | buf[3];

        // loadcell_data = loadcell_data - 10000000; 

        positionSetpoint(encoder_data);

