motion/control.c disable teleop_tp at softlimit JA
motion/control.c disable teleop_tp at softlimit JA

to allow teleop jogging after recovery in joint mode
(non-identity kinematics)

Also:
 If KINEMATICS_IDENTITY and MISconfigured such that
 a joint limit is more restrictive than a corresponding
 one-to-one axis limit, like:
   [JOINT_0]MAX_LIMIT < [AXIS_X]MAX_LIMIT
 then machine hitting a soft limit with a teleop jog may not
 be able to be moved as the gui may not provide a means
 to joint jog in order to back off.
 For this situation, amplify the reporError() message
 to indicate something is wrong joints vs axis limits.

Signed-off-by: Dewey Garrett <546ec366615570e68497e3c5df9092106a9808f4@panix.com>

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