Jogging from KAREL

Anyone have any tricks to replicate jogging the robot from within KAREL? I have tried obtaining the limits for an axis then just doing a joint position move to that limit upon start of the jog request, then stopping the motion once the jog request is removed. However, the J2 and J3 axes don't like this method as they will most always fault out on position not reachable due to the j2/j3 interaction. Any thoughts for working around this issue or another approach?