Speed limitation close to software limit by traj planner

Hi,
I though that after homing that would be the value in [AXIS] and not [JOINT] which was taken into account.

My goal is to never reach the hard limit switch so yeah my soft limit is placed slightly before.

Nicolas

The soft limits work properly in joint mode before homing, to check this home the machine, unhome and them jog an axis, it will stop at the end of the distance set in the ini.
Beware that if you release the jog button and press again, it will move again in that direction for exactly the distance set in the ini, most probably it will hit hard stops so to test this you can set much shorter values in the ini file to have room to play.

Ok, I was thinking more about the case at start up before homing after turning it on and as observing that it was passing the joint soft limit.
Nicolas

Before homing the system has no way to know where on the joint / axis the machine currently is, so it has no way to enforce the soft limits.

(Unless you have absolute encoders, and if you do, then the correct setup will not hit the soft limits even if unhomed)