We set the software limit of PR2 SF as follows.
Drive range of Stepper Motor (upward is minus)
Current position: -500,000[count](-9.76mm)
Upper limit, Lower limit: No setting
Upper and lower limits: No setting Available to drive from 0[count] stack position to -1,750,000[count].
[After change] Set the current position to 0 (add +500,000)
Current position: 0[count](0mm: reference point)
Upper limit: 450,000[count](8.78mm)
Lower limit: -1,200,000[count](-23.43mm) (-1,250,000[count](-24.41mm))