That is a good feature sometimes and a bad the other.
In the tragectory menu you can define the velocity that the drive try to recover from error. If you set a lower value, then you have some time to send another commanded position to the drive.
For example: You hit a limit switch (should not happen the 1st place), then you manually move the axis away from it with the drive in disable mode. When you enable again the drive, it will go again to the limit switch position, unless you command another position the meanwhile. This is what I do, and it works for me.