I have a configuration for a robot setup with the joint velocity limits set to motor speed limits. Jogging in joint mode works fine, but in world mode it switches to using the axis limits and ignores the joint limits. This obviously will cause issues as the joints can only go so fast. Is there a way to force the joint velocity limit or somehow reduce the commanded speed of the entire machine to keep the joint from overspeeding? I thought of using the adaptive feed pin but it doesn't affect rapid or jog moves.
