A system for a loader controlling movement of a lift arm of the loader near a limit of travel of the lift arm receives a signal indicative of the loader engine speed and a signal indicative of actuation of a sensor on the lift arm. A controller determines a lift arm command signal based at least upon the engine speed signal, and transmits the lift arm command signal to an electro-hydraulic system to control the movement of the lift arm adjacent the limit of travel of the lift arm.