diff --git a/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/arm.py b/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/arm.py
index 14fbcfa..ff00448 100644
--- a/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/arm.py
+++ b/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/arm.py
@@ -34,7 +34,7 @@
 
 import math
 import sys
-from typing import Any, List, Tuple, Union
+from typing import Any, List, Optional, Tuple, Union
 
 import interbotix_common_modules.angle_manipulation as ang
 from interbotix_common_modules.common_robot.robot import InterbotixRobotNode
@@ -318,15 +318,23 @@ def set_trajectory_time(
             )
             self.core.get_node().wait_until_future_complete(future_accel_time)
 
-    def _check_joint_limits(self, positions: List[float]) -> bool:
+    def _check_joint_limits(
+        self,
+        positions: List[float],
+        moving_time: Optional[float] = None,
+    ) -> bool:
         """
         Ensure the desired arm group's joint positions are within their limits.
 
         :param positions: the positions [rad] to check
+        :param moving_time: (optional) duration in seconds that the robot should move
         :return: `True` if all positions are within limits; `False` otherwise
         """
         self.core.get_node().logdebug(f'Checking joint limits for {positions=}')
 
+        if moving_time is None:
+            moving_time = self.moving_time
+
         # Reject any commands containing NaN values
         if any(math.isnan(elem) for elem in positions):
             self.core.get_node().logwarn('Rejecting NaN values in position command')
@@ -334,7 +342,7 @@ def _check_joint_limits(self, positions: List[float]) -> bool:
 
         theta_list = [int(elem * 1000) / 1000.0 for elem in positions]
         speed_list = [
-            abs(goal - current) / float(self.moving_time)
+            abs(goal - current) / float(moving_time)
             for goal, current in zip(theta_list, self.joint_commands)
         ]
         # check position and velocity limits
@@ -349,18 +357,27 @@ def _check_joint_limits(self, positions: List[float]) -> bool:
                 return False
         return True
 
-    def _check_single_joint_limit(self, joint_name: str, position: float) -> bool:
+    def _check_single_joint_limit(
+        self,
+        joint_name: str,
+        position: float,
+        moving_time: Optional[float],
+    ) -> bool:
         """
         Ensure a desired position for a given joint is within its limits.
 
         :param joint_name: desired joint name
         :param position: desired joint position [rad]
+        :param moving_time: (optional) duration in seconds that the robot should move
         :return: `True` if within limits; `False` otherwise
         """
         self.core.get_node().logdebug(
             f"Checking joint '{joint_name}' limits for {position=}"
         )
 
+        if moving_time is None:
+            moving_time = self.moving_time
+
         # Reject any commands containing NaN values
         if math.isnan(position):
             self.core.get_node().logwarn('Rejecting NaN value in position command')
@@ -369,7 +386,7 @@ def _check_single_joint_limit(self, joint_name: str, position: float) -> bool:
         theta = int(position * 1000) / 1000.0
         speed = abs(
             theta - self.joint_commands[self.info_index_map[joint_name]]
-        ) / float(self.moving_time)
+        ) / float(moving_time)
         ll = self.group_info.joint_lower_limits[self.info_index_map[joint_name]]
         ul = self.group_info.joint_upper_limits[self.info_index_map[joint_name]]
         vl = self.group_info.joint_velocity_limits[self.info_index_map[joint_name]]
@@ -398,7 +415,7 @@ def set_joint_positions(
         :return: `True` if position was commanded; `False` if it wasn't due to being outside limits
         """
         self.core.get_node().logdebug(f'Setting {joint_positions=}')
-        if self._check_joint_limits(joint_positions):
+        if self._check_joint_limits(joint_positions, moving_time):
             self._publish_commands(joint_positions, moving_time, accel_time, blocking)
             return True
         else:
@@ -534,7 +551,7 @@ def set_ee_pose_matrix(
             # Check to make sure a solution was found and that no joint limits were violated
             if success:
                 theta_list = self._wrap_theta_list(theta_list)
-                solution_found = self._check_joint_limits(theta_list)
+                solution_found = self._check_joint_limits(theta_list, moving_time)
             else:
                 solution_found = False