A system includes a manually movable input control configured to generate signals when a movement of one or more mechanical degrees of freedom of the input control is detected and a control module. The control module is configured to determine whether a movement of the input control is anticipated to cause an instrument to move outside of a safe range of movement of the instrument and command the system to switch from an operating mode to a safe mode in response to determining that the movement of the input control is anticipated to cause the instrument to move outside of the safe range of movement of the instrument. The instrument is separate from the input control. In the operating mode the instrument moves in response to movement of the input control. In the safe mode the instrument does not move in response to movement of the input control.
