Max_Angular_Velocity

In a "switchkins" XYZABC" serial link machine...

If all the joints are defined angular, do I set Max_Velocity or Max_Angular_Velocity under [JOINT#] ?  Or is it sufficient to only set under [TRAJ] ? Same for [TRAJ] do I set Max_Velocity, Max_Angular_Velocity or both?

I'm thinking I need to set the values at the [JOINT#] level to handle the various gear ratios.

What would you recomend?

Not sure if anything changed, but XYZ were always linear and ABC were always angular, but i know i have set A axis as linear and it worked for what i need. The gremlin (vizualization on GUI) might still show it as angular, though, and i do not know how to change that.
Should wait for someone with more knowledge to chime in.