diff --git a/src/emc/motion/control.c b/src/emc/motion/control.c
index 77fdf6f16dd..381a4959b7c 100644
--- a/src/emc/motion/control.c
+++ b/src/emc/motion/control.c
@@ -341,6 +341,14 @@ static void handle_kinematicsSwitch(void) {
     }
 #endif
     tpSetPos(&emcmotInternal->coord_tp, &emcmotStatus->carte_pos_cmd);
+    
+    /* Also synch teleop mode to avoid change in joint cmd */
+    for (int axis_num = 0; axis_num < MAX_AXIS_AMOUNT; axis_num++) {
+		emcmot_axis_t *axis;
+		axis = &axes[axis_num];
+		axis->teleop_tp.curr_pos = *pcmd_p[axis_num];
+	}
+      
 } //handle_kinematicsSwitch()
 
 static void process_inputs(void)
@@ -1471,6 +1479,11 @@ static void get_pos_cmds(long period)
     for (joint_num = 0; joint_num < ALL_JOINTS; joint_num++) {
 	/* point to joint data */
 	joint = &joints[joint_num];
+	
+	/* Zero values */
+	joint_limit[joint_num][0] = 0;
+	joint_limit[joint_num][1] = 0;
+	
 	/* skip inactive or unhomed axes */
 	if ((!GET_JOINT_ACTIVE_FLAG(joint)) || (!get_homed(joint_num))) {
 	    continue;