Impose torque limits

asteinh

Hello,

For research purposes I'd like to impose artificial torque limits (or limits on the controller output) on our IRB120 with an attached IRC5 compact. I browsed through the controller's settings (connected to the service port) in RobotStudio 6.03 and went through the manuals but didn't find anything that explicitly offers this option.
The closest thing I found is the arm's "performance quota", but this seems to limit the acceleration of the joint.

I'd like to limit (by saturating) the joint's control action output (e.g., to 90% of the nominal maximum) such that, when the control signal is saturated, the tracking error increases. Is there a way to impose such limits (via RobotStudio or any other way)?