Robot goes beyond joint limits

[PauBot]

Is there a way to stop a robot from going outside its joint limits during simulation?
It sometimes happen that my robot executes a PTP/LIN motion and I can see one of joints turning red in the Jog menu, indicating it went beyond it’s min/max value. Why does this happen?
Please help,
Thanks

[Drusilia]

Did you solve it? What was the solution?

[PauBot]

I found about the Limits gallery (from the PROGRAM tab), which takes care of joint limits. If you check the Stop at Limits box, the robot won’t go beyond its joint limits.