Quote Originally Posted by Clive S View Post
Do you have soft limits as well? It's all debatable but hitting the limits say while jogging should not (in my opinion) be an E-Stop as it is not an emergency
This is why I would always recommend running soft-limits. IMHO the type of machine decides the limit system used - A stepper drive is safe if it runs away and hits a stop, the steppers will stall so I would forget limits altogether and fit a home switch plus soft limits, nothing more.

On a servo drive, mechanical breakage is very easy so i would fit hard limit switches wired to the servo power/estop circuit contactor, forget the software, just kill the power. Then fit a home switch and use soft limits to ensure you cannot jog into a limit, ever.