[LinuxCNC/linuxcnc Issue#182] soft limits enforced in cartesian jogging before homing

Here are the steps I follow to reproduce the issue:

1. Open StepConf
2. Basically click forward all the way through a new config. I selected to use Gmoccapy and changed pins for axis A to unused, inverted axis Y and Z and set max velocities on the 3 axis’. All other options as per default.
3. Run LinuxCNC 2.8~pre (compiled October 16, 2016) and try to move axis manually to home position. Axis’ will not move past position 0.0, even when completely un-homed (red DRO in gmoccapy) after starting LinuxCNC. This prevents the machine from moving to it’s home position.
4. Manually switched the .ini to use Axis with the same results

This is what I expected to happen:

Be able to move the position of any axis to any position while the axis is un-homed.

This is what happened instead:

Axis’ stop at 0.0 (basically where ever the machine happens to be when LinuxCNC starts). Moving to a positive position works, but moving backwards it stops at 0.0

It worked properly before this:

Works in 2.7.7

Information about my hardware and software:

– I am using this Linux distribution and version (often, shown by lsb_release -a): Debian GNU/Linux 7.11 Wheezy
– I am using this kernel version (shown by uname -a): Linux linuxcnc 3.4-9-rtai-686-pae #1 SMP PREEMPT Debian 3.4.55-4linuxcnc i686 GNU/Linux
– I am running a binary I built myself
– I am using this LinuxCNC version (shown in package manager or, for git versions, scripts/get-version-from-git): v2.8.0-pre1-2653-ge8e4116
– I am using this user interface (GUI) (e.g., AXIS, Touchy, gmoccapy, etc): Gmoccapy and AXIS
– I am using this interface hardware vendor and chipset (e.g., parallel port, ethernet port, FPGA card): Parallel port

> # Generated by stepconf 1.1 at Sun Oct 16 20:24:46 2016
> # If you make changes to this file, they will be
> # overwritten when you run stepconf again
>
> [EMC]
> MACHINE = X2-2.8
> DEBUG = 0
> VERSION = 1.0
>
> [DISPLAY]
> DISPLAY = axis
> EDITOR = gedit
> POSITION_OFFSET = RELATIVE
> POSITION_FEEDBACK = ACTUAL
> ARCDIVISION = 64
> GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
> MAXFEEDOVERRIDE = 1.2
> MINSPINDLEOVERRIDE = 0.5
> MAXSPINDLEOVERRIDE = 1.2
> DEFAULTLINEARVELOCITY = 0.10
> MINLINEARVELOCITY = 0
> MAXLINEARVELOCITY = 0.35
> INTRO_GRAPHIC = linuxcnc.gif
> INTRO_TIME = 5
> PROGRAMPREFIX = /home/mike/linuxcnc/ncfiles
> INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
>
> [KINS]
> JOINTS = 3
> KINEMATICS = trivkins coordinates=XYZ
>
> [FILTER]
> PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
> PROGRAM_EXTENSION = .py Python Script
> png = image-to-gcode
> gif = image-to-gcode
> jpg = image-to-gcode
> py = python
>
> [TASK]
> TASK = milltask
> CYCLE_TIME = 0.010
>
> [RS274NGC]
> PARAMETER_FILE = linuxcnc.var
>
> [EMCMOT]
> EMCMOT = motmod
> COMM_TIMEOUT = 1.0
> COMM_WAIT = 0.010
> BASE_PERIOD = 100000
> SERVO_PERIOD = 1000000
>
> [HAL]
> HALFILE = X2-2.8.hal
> HALFILE = custom.hal
> POSTGUIHALFILE = postguicall_list.hal
>
> [TRAJ]
> COORDINATES = X Y Z
> LINEAR_UNITS = inch
> ANGULAR_UNITS = degree
> CYCLE_TIME = 0.010
> DEFAULTLINEARVELOCITY = 0.10
> MAXLINEARVELOCITY = 0.35
>
> [EMCIO]
> EMCIO = io
> CYCLE_TIME = 0.100
> TOOL_TABLE = tool.tbl
>
> [AXIS_X]
> MAX_VELOCITY = 0.35
> MAX_ACCELERATION = 30.0
> MIN_LIMIT = -0.01
> MAX_LIMIT = 8.4
>
> [JOINT_0]
> TYPE = LINEAR
> HOME = 0.0
> MIN_LIMIT = -0.01
> MAX_LIMIT = 8.4
> MAX_VELOCITY = 0.35
> MAX_ACCELERATION = 30.0
> STEPGEN_MAXACCEL = 37.5
> SCALE = 8000.0
> FERROR = 0.05
> MIN_FERROR = 0.01
> HOME_OFFSET = 0.0
>
> [AXIS_Y]
> MAX_VELOCITY = 0.35
> MAX_ACCELERATION = 30.0
> MIN_LIMIT = -0.01
> MAX_LIMIT = 3.4
>
> [JOINT_1]
> TYPE = LINEAR
> HOME = 0.0
> MIN_LIMIT = -0.01
> MAX_LIMIT = 3.4
> MAX_VELOCITY = 0.35
> MAX_ACCELERATION = 30.0
> STEPGEN_MAXACCEL = 37.5
> SCALE = 8000.0
> FERROR = 0.05
> MIN_FERROR = 0.01
> HOME_OFFSET = 0.0
>
> [AXIS_Z]
> MAX_VELOCITY = 0.15
> MAX_ACCELERATION = 30.0
> MIN_LIMIT = -8.7
> MAX_LIMIT = 0.01
>
> [JOINT_2]
> TYPE = LINEAR
> HOME = 0.0
> MIN_LIMIT = -8.7
> MAX_LIMIT = 0.01
> MAX_VELOCITY = 0.15
> MAX_ACCELERATION = 30.0
> STEPGEN_MAXACCEL = 37.5
> SCALE = 8000.0
> FERROR = 0.05
> MIN_FERROR = 0.01
> HOME_OFFSET = 0.0