[shadowgovt]

I wish they had gone into more detail. Unfortunately, my experience is that, yes, such limiters do count as "advanced."

First time I got my hands on a working mounted arm, I was cautioned again and again the need to run any new program in low-speed mode first. Because the arm had no limiting logic and would cheerfully power-bomb its own base with all the force and torque its motors could muster if I told it to.

Preventing that is still considered an "advanced technique."