Torque is limited by the lower set value of "[Pr.17] Torque limit setting value" and "[Cd.22] New torque value".
When the current torque reaches the limit, "b7: Torque limit" of "[Md.108] Servo status" turns ON.
Create a program so that this flag is used as a trigger of an operation stop or an operation start in reverse direction.
But when using such programs, note that the torque limit flag could also be turned ON when torque increases at a rapid acceleration.