[phkahler]

One system I know of had to have software to reduce torque at the end stops or it could destroy FETs and shut down. If this system needed such protection, we might wonder if its included when taking external torque commands. I would if I wrote the code, but you never know when operating outside their expected use cases.

It's also much more benign to destroy components than to have actual bugs. And he's not changing software at the source level.