Work out joint angle limits instantly with clear inputs, formula shown and shareable results.
Joint limits are enforced in two layers: hard limits from the mechanics and soft limits set inside them so the controller can decelerate before hitting a stop. Checking the commanded angle against both, and reporting the margin, is what prevents a trajectory from being planned into an unreachable pose.
Joint limits
soft range = [lower + margin, upper - margin]; margin to limit = min(cmd - soft lower, soft upper - cmd)
So the axis can stop under control. Hitting a hard stop at speed damages the transmission and usually needs a re-home and re-calibration.
At least the stopping distance at maximum speed for that joint, which is deceleration-limited, plus an allowance for following error.