[AXIS] MAX_VELOCITY parameter limitations

As we are testing our 6 DOF robot arm, we have come into a situation where we want to be able to limit the angular velocity of the rest of the arm based on the velocity of a single joint. Our instinct was to go to the .ini file and set the MAX_VELOCITY of our 4th joint lower than the rest of our joints in the hope that, during coordinated movement, it would limit the velocity of the robot when that specific joint was asked to move at a velocity at or greater than the specified maximum. This was not the case.

It seems that the MAX_VELOCITY setting in the [AXIS] section only applies to jog speeds in joint mode. Is there a way for us to accomplish this?

Just for clarification we are trying to limit the velocity of our 6 DOF robot arm only when a specific axis is asked to move faster than it can without faulting out with following error.

Thoughts?

Our .ini file is attached (the MAX_VELOCITY and MAX_ACCELERATION are ridiculously low on purpose. We were testing the effect of that setting).