Sharing and discussing concepts always reveals thoughts and points of view one might have overlooked before. I like discussions like this as I always learn from them. Always cool!
Considering the car example, I think about the limit switches as if they are a transparent concrete wall. Not like a child, which you cann see and react upon.
I have not tried it but, are the limit switches active when soft limits are activated? In case, the limit switches could be what they should be, emergency switches, and the soft limits, defined to trigger before the limits are hit...
Maybe I just understood how Mach should be configured hahaha
Happy weekend all!
Lemo