If you have it like you had first and hit the limits you can then go to settings page and click limit override, that will allow you to press reset and jog back off. You can also choose AutoLimit override, if you have that and hit a limit all you will need to do is press reset and you can jog off, no need to go to settings page each time.
It is also worth setting up soft limits as that will stop you hitting the real limits.
Hood