 unsigned char pdo_actual_current_4[8] = {0x22, 0x00, 0x18, 0x02, 0x01, 0, 0, 0};
 unsigned char pdo_actual_current_5[8] = {0x22, 0x00, 0x1A, 0x00, 0x01, 0, 0, 0};
 
-// Objects Writing
+// *****************
+// Object Writing
+// *****************
+
+// Parameters
 unsigned char set_max_following_error[8] = {0x22, 0x65, 0x60, 0, 0xD0, 7, 0, 0};
 unsigned char set_max_acceleration[8] = {0x22, 0xC5, 0x60, 0, 0x88, 0x13, 0, 0};
 unsigned char set_max_profile_velocity[8] = {0x22, 0x7F, 0x60, 0, 0xD0, 7, 0, 0};
+unsigned char set_min_position_limit[8] = {0x22, 0x7D, 0x60, 0x01, 0x20, 0x6C, 0xFB, 0xFF}; // -300000qc = 0xFFFB6C20
+unsigned char set_max_position_limit[8] = {0x22, 0x7D, 0x60, 0x02, 0xE0, 0x93, 0x04, 0}; // 300000qc = 0x0493E0
+
+// Commanding
 unsigned char setpoint_position[8] = {0x22, 0x62, 0x20, 0, 0, 0, 0, 0};
 
-// Objects Reading
+// *****************
+// Object Reading
+// *****************
+
+// Actual Values
 unsigned char get_actual_position[8] = {0x40, 0x64, 0x60, 0, 0, 0, 0, 0};
 unsigned char get_actual_velocity[8] = {0x40, 0x6C, 0x60, 0, 0, 0, 0, 0};
 unsigned char get_actual_current[8] = {0x40, 0x78, 0x60, 0, 0, 0, 0, 0};

      // 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);

