If we are moving to the soft limit with the velocity mode, limit switch will kill movement and go to brake mode. It may fall some due to gravity, causing limit condition to clear and velocity mode to re engage, resulting in a stutter at the end of the travel of the device.
Software can limit moves to position to within range of the soft limit, so it's never actually hit by move to position. For mode by velocity, we could possibly poll for limit switch conditions or near limit switch conditions and force hold position mode instead until the operation is negated. Not sure but if you are within a small distance of limit and forcing towards, move to position might be better.
If we are moving to the soft limit with the velocity mode, limit switch will kill movement and go to brake mode. It may fall some due to gravity, causing limit condition to clear and velocity mode to re engage, resulting in a stutter at the end of the travel of the device.
Software can limit moves to position to within range of the soft limit, so it's never actually hit by move to position. For mode by velocity, we could possibly poll for limit switch conditions or near limit switch conditions and force hold position mode instead until the operation is negated. Not sure but if you are within a small distance of limit and forcing towards, move to position might be better.