Description of work

only check soft limits after timeout, otherwise if motion stops for too long during a home may generate a false error

To test

Which ticket does this PR fix?

See ISISComputingGroup/IBEX#8550

Acceptance criteria

• ** Are these changes applicable to both the old (galil-old branch) and new (master branch) drivers? If so have all appropriate PRs been created **

Code Review

• Pertitent information has been stored in the wiki
• Have the changes been recorded appropriately in a PR for release notes?

Final steps

• Update the submodule in the main EPICS repo. See Git workflow page for details.
• Reviewer has merged the associated PR for the release notes