diff --git a/src/Mod/Assembly/App/AssemblyObject.cpp b/src/Mod/Assembly/App/AssemblyObject.cpp
index 84ad387cf7..0dabd5b998 100644
--- a/src/Mod/Assembly/App/AssemblyObject.cpp
+++ b/src/Mod/Assembly/App/AssemblyObject.cpp
@@ -1142,25 +1142,34 @@ AssemblyObject::makeMbdJoint(App::DocumentObject* joint)
     mbdJoint->setMarkerJ(fullMarkerNameJ);
 
     // Add limits if needed.
-    auto* prop = dynamic_cast<App::PropertyBool*>(joint->getPropertyByName("EnableLimits"));
-    if (prop && prop->getValue()) {
-        if (jointType == JointType::Slider || jointType == JointType::Cylindrical) {
-            auto* propLenMin =
-                dynamic_cast<App::PropertyFloat*>(joint->getPropertyByName("LengthMin"));
-            auto* propLenMax =
-                dynamic_cast<App::PropertyFloat*>(joint->getPropertyByName("LengthMax"));
+    if (jointType == JointType::Slider || jointType == JointType::Cylindrical) {
+        auto* pLenMin = dynamic_cast<App::PropertyFloat*>(joint->getPropertyByName("LengthMin"));
+        auto* pLenMax = dynamic_cast<App::PropertyFloat*>(joint->getPropertyByName("LengthMax"));
+        auto* pMinEnabled =
+            dynamic_cast<App::PropertyBool*>(joint->getPropertyByName("EnableLengthMin"));
+        auto* pMaxEnabled =
+            dynamic_cast<App::PropertyBool*>(joint->getPropertyByName("EnableLengthMax"));
 
-            if (propLenMin && propLenMax) {
-                // Swap the values if necessary.
-                double minLength = propLenMin->getValue();
-                double maxLength = propLenMax->getValue();
-                if (minLength > maxLength) {
-                    propLenMin->setValue(maxLength);
-                    propLenMax->setValue(minLength);
-                    minLength = maxLength;
-                    maxLength = propLenMax->getValue();
-                }
+        if (pLenMin && pLenMax && pMinEnabled && pMaxEnabled) {  // Make sure properties do exist
+            // Swap the values if necessary.
+            bool minEnabled = pMinEnabled->getValue();
+            bool maxEnabled = pMaxEnabled->getValue();
+            double minLength = pLenMin->getValue();
+            double maxLength = pLenMax->getValue();
 
+            if ((minLength > maxLength) && minEnabled && maxEnabled) {
+                pLenMin->setValue(maxLength);
+                pLenMax->setValue(minLength);
+                minLength = maxLength;
+                maxLength = pLenMax->getValue();
+
+                pMinEnabled->setValue(maxEnabled);
+                pMaxEnabled->setValue(minEnabled);
+                minEnabled = maxEnabled;
+                maxEnabled = pMaxEnabled->getValue();
+            }
+
+            if (minEnabled) {
                 auto limit = ASMTTranslationLimit::With();
                 limit->setName(joint->getFullName() + "-LimitLenMin");
                 limit->setMarkerI(fullMarkerNameI);
@@ -1169,7 +1178,9 @@ AssemblyObject::makeMbdJoint(App::DocumentObject* joint)
                 limit->setlimit(std::to_string(minLength));
                 limit->settol("1.0e-9");
                 mbdAssembly->addLimit(limit);
+            }
 
+            if (maxEnabled) {
                 auto limit2 = ASMTTranslationLimit::With();
                 limit2->setName(joint->getFullName() + "-LimitLenMax");
                 limit2->setMarkerI(fullMarkerNameI);
@@ -1180,23 +1191,34 @@ AssemblyObject::makeMbdJoint(App::DocumentObject* joint)
                 mbdAssembly->addLimit(limit2);
             }
         }
-        if (jointType == JointType::Revolute || jointType == JointType::Cylindrical) {
-            auto* propRotMin =
-                dynamic_cast<App::PropertyFloat*>(joint->getPropertyByName("AngleMin"));
-            auto* propRotMax =
-                dynamic_cast<App::PropertyFloat*>(joint->getPropertyByName("AngleMax"));
+    }
+    if (jointType == JointType::Revolute || jointType == JointType::Cylindrical) {
+        auto* pRotMin = dynamic_cast<App::PropertyFloat*>(joint->getPropertyByName("AngleMin"));
+        auto* pRotMax = dynamic_cast<App::PropertyFloat*>(joint->getPropertyByName("AngleMax"));
+        auto* pMinEnabled =
+            dynamic_cast<App::PropertyBool*>(joint->getPropertyByName("EnableAngleMin"));
+        auto* pMaxEnabled =
+            dynamic_cast<App::PropertyBool*>(joint->getPropertyByName("EnableAngleMax"));
 
-            if (propRotMin && propRotMax) {
-                // Swap the values if necessary.
-                double minAngle = propRotMin->getValue();
-                double maxAngle = propRotMax->getValue();
-                if (minAngle > maxAngle) {
-                    propRotMin->setValue(maxAngle);
-                    propRotMax->setValue(minAngle);
-                    minAngle = maxAngle;
-                    maxAngle = propRotMax->getValue();
-                }
+        if (pRotMin && pRotMax && pMinEnabled && pMaxEnabled) {  // Make sure properties do exist
+            // Swap the values if necessary.
+            bool minEnabled = pMinEnabled->getValue();
+            bool maxEnabled = pMaxEnabled->getValue();
+            double minAngle = pRotMin->getValue();
+            double maxAngle = pRotMax->getValue();
+            if ((minAngle > maxAngle) && minEnabled && maxEnabled) {
+                pRotMin->setValue(maxAngle);
+                pRotMax->setValue(minAngle);
+                minAngle = maxAngle;
+                maxAngle = pRotMax->getValue();
 
+                pMinEnabled->setValue(maxEnabled);
+                pMaxEnabled->setValue(minEnabled);
+                minEnabled = maxEnabled;
+                maxEnabled = pMaxEnabled->getValue();
+            }
+
+            if (minEnabled) {
                 auto limit = ASMTRotationLimit::With();
                 limit->setName(joint->getFullName() + "-LimitRotMin");
                 limit->setMarkerI(fullMarkerNameI);
@@ -1205,7 +1227,9 @@ AssemblyObject::makeMbdJoint(App::DocumentObject* joint)
                 limit->setlimit(std::to_string(minAngle) + "*pi/180.0");
                 limit->settol("1.0e-9");
                 mbdAssembly->addLimit(limit);
+            }
 
+            if (maxEnabled) {
                 auto limit2 = ASMTRotationLimit::With();
                 limit2->setName(joint->getFullName() + "-LimiRotMax");
                 limit2->setMarkerI(fullMarkerNameI);
diff --git a/src/Mod/Assembly/Gui/Resources/panels/TaskAssemblyCreateJoint.ui b/src/Mod/Assembly/Gui/Resources/panels/TaskAssemblyCreateJoint.ui
index 58b40dcba6..1a71b19688 100644
--- a/src/Mod/Assembly/Gui/Resources/panels/TaskAssemblyCreateJoint.ui
+++ b/src/Mod/Assembly/Gui/Resources/panels/TaskAssemblyCreateJoint.ui
@@ -137,96 +137,107 @@
     </widget>
    </item>
    <item row="7" column="0">
-    <widget class="QCheckBox" name="LimitCheckbox">
-     <property name="text">
+    <widget class="QGroupBox" name="groupBox_limits">
+     <property name="title">
       <string>Limits</string>
      </property>
-     <property name="checked">
-      <bool>false</bool>
-     </property>
+     <layout class="QGridLayout" name="gridLayout_limits">
+      <item row="0" column="0">
+       <widget class="QCheckBox" name="limitCheckbox1">
+        <property name="text">
+         <string>Min length</string>
+        </property>
+        <property name="checked">
+         <bool>false</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="Gui::QuantitySpinBox" name="limitLenMinSpinbox">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="unit" stdset="0">
+         <string notr="true">mm</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QCheckBox" name="limitCheckbox2">
+        <property name="text">
+         <string>Max length</string>
+        </property>
+        <property name="checked">
+         <bool>false</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="Gui::QuantitySpinBox" name="limitLenMaxSpinbox">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="unit" stdset="0">
+         <string notr="true">mm</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QCheckBox" name="limitCheckbox3">
+        <property name="text">
+         <string>Min angle</string>
+        </property>
+        <property name="checked">
+         <bool>false</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="Gui::QuantitySpinBox" name="limitRotMinSpinbox">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="unit" stdset="0">
+         <string notr="true">deg</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="0">
+       <widget class="QCheckBox" name="limitCheckbox4">
+        <property name="text">
+         <string>Max angle</string>
+        </property>
+        <property name="checked">
+         <bool>false</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="1">
+       <widget class="Gui::QuantitySpinBox" name="limitRotMaxSpinbox">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="unit" stdset="0">
+         <string notr="true">deg</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
     </widget>
    </item>
    <item row="8" column="0">
-    <widget class="QLabel" name="limitLenMinSpinboxLabel">
-     <property name="text">
-      <string>Length min</string>
-     </property>
-    </widget>
-   </item>
-   <item row="8" column="1">
-    <widget class="Gui::QuantitySpinBox" name="limitLenMinSpinbox">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="unit" stdset="0">
-      <string notr="true">mm</string>
-     </property>
-    </widget>
-   </item>
-   <item row="9" column="0">
-    <widget class="QLabel" name="limitLenMaxSpinboxLabel">
-     <property name="text">
-      <string>Length max</string>
-     </property>
-    </widget>
-   </item>
-   <item row="9" column="1">
-    <widget class="Gui::QuantitySpinBox" name="limitLenMaxSpinbox">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="unit" stdset="0">
-      <string notr="true">mm</string>
-     </property>
-    </widget>
-   </item>
-   <item row="10" column="0">
-    <widget class="QLabel" name="limitRotMinSpinboxLabel">
-     <property name="text">
-      <string>Angle min</string>
-     </property>
-    </widget>
-   </item>
-   <item row="10" column="1">
-    <widget class="Gui::QuantitySpinBox" name="limitRotMinSpinbox">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="unit" stdset="0">
-      <string notr="true">deg</string>
-     </property>
-    </widget>
-   </item>
-   <item row="11" column="0">
-    <widget class="QLabel" name="limitRotMaxSpinboxLabel">
-     <property name="text">
-      <string>Angle max</string>
-     </property>
-    </widget>
-   </item>
-   <item row="11" column="1">
-    <widget class="Gui::QuantitySpinBox" name="limitRotMaxSpinbox">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="unit" stdset="0">
-      <string notr="true">deg</string>
-     </property>
-    </widget>
-   </item>
-   <item row="12" column="0">
     <widget class="QCheckBox" name="reverseRotCheckbox">
      <property name="text">
       <string>Reverse rotation</string>
diff --git a/src/Mod/Assembly/JointObject.py b/src/Mod/Assembly/JointObject.py
index 4ef2c223e4..20a340b52d 100644
--- a/src/Mod/Assembly/JointObject.py
+++ b/src/Mod/Assembly/JointObject.py
@@ -370,17 +370,53 @@ class Joint:
             )
             joint.Activated = True
 
-        if not hasattr(joint, "EnableLimits"):
+        if not hasattr(joint, "EnableLengthMin"):
             joint.addProperty(
                 "App::PropertyBool",
-                "EnableLimits",
+                "EnableLengthMin",
                 "Limits",
                 QT_TRANSLATE_NOOP(
                     "App::Property",
-                    "Is this joint using limits.",
+                    "Enable the minimum length limit of the joint.",
                 ),
             )
-            joint.EnableLimits = False
+            joint.EnableLengthMin = False
+
+        if not hasattr(joint, "EnableLengthMax"):
+            joint.addProperty(
+                "App::PropertyBool",
+                "EnableLengthMax",
+                "Limits",
+                QT_TRANSLATE_NOOP(
+                    "App::Property",
+                    "Enable the maximum length limit of the joint.",
+                ),
+            )
+            joint.EnableLengthMax = False
+
+        if not hasattr(joint, "EnableAngleMin"):
+            joint.addProperty(
+                "App::PropertyBool",
+                "EnableAngleMin",
+                "Limits",
+                QT_TRANSLATE_NOOP(
+                    "App::Property",
+                    "Enable the minimum angle limit of the joint.",
+                ),
+            )
+            joint.EnableAngleMin = False
+
+        if not hasattr(joint, "EnableAngleMax"):
+            joint.addProperty(
+                "App::PropertyBool",
+                "EnableAngleMax",
+                "Limits",
+                QT_TRANSLATE_NOOP(
+                    "App::Property",
+                    "Enable the minimum length of the joint.",
+                ),
+            )
+            joint.EnableAngleMax = False
 
         if not hasattr(joint, "LengthMin"):
             joint.addProperty(
@@ -1268,7 +1304,11 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
         self.form.offsetSpinbox.valueChanged.connect(self.onOffsetChanged)
         self.form.rotationSpinbox.valueChanged.connect(self.onRotationChanged)
         self.form.PushButtonReverse.clicked.connect(self.onReverseClicked)
-        self.form.LimitCheckbox.stateChanged.connect(self.adaptUi)
+
+        self.form.limitCheckbox1.stateChanged.connect(self.adaptUi)
+        self.form.limitCheckbox2.stateChanged.connect(self.adaptUi)
+        self.form.limitCheckbox3.stateChanged.connect(self.adaptUi)
+        self.form.limitCheckbox4.stateChanged.connect(self.adaptUi)
         self.form.limitLenMinSpinbox.valueChanged.connect(self.onLimitLenMinChanged)
         self.form.limitLenMaxSpinbox.valueChanged.connect(self.onLimitLenMaxChanged)
         self.form.limitRotMinSpinbox.valueChanged.connect(self.onLimitRotMinChanged)
@@ -1545,37 +1585,42 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
         needLengthLimits = jType in JointUsingLimitLength
         needAngleLimits = jType in JointUsingLimitAngle
 
-        showLimits = False
         if needLengthLimits or needAngleLimits:
-            self.form.LimitCheckbox.show()
-            showLimits = True
-        else:
-            self.form.LimitCheckbox.hide()
+            self.form.groupBox_limits.show()
 
-        showLimits = showLimits and self.form.LimitCheckbox.isChecked()
-        self.joint.EnableLimits = showLimits
+            self.joint.EnableLengthMin = self.form.limitCheckbox1.isChecked()
+            self.joint.EnableLengthMax = self.form.limitCheckbox2.isChecked()
+            self.joint.EnableAngleMin = self.form.limitCheckbox3.isChecked()
+            self.joint.EnableAngleMax = self.form.limitCheckbox4.isChecked()
 
-        if needLengthLimits and showLimits:
-            self.form.limitLenMinSpinboxLabel.show()
-            self.form.limitLenMaxSpinboxLabel.show()
-            self.form.limitLenMinSpinbox.show()
-            self.form.limitLenMaxSpinbox.show()
-        else:
-            self.form.limitLenMinSpinboxLabel.hide()
-            self.form.limitLenMaxSpinboxLabel.hide()
-            self.form.limitLenMinSpinbox.hide()
-            self.form.limitLenMaxSpinbox.hide()
+            if needLengthLimits:
+                self.form.limitCheckbox1.show()
+                self.form.limitCheckbox2.show()
+                self.form.limitLenMinSpinbox.show()
+                self.form.limitLenMaxSpinbox.show()
+                self.form.limitLenMinSpinbox.setEnabled(self.joint.EnableLengthMin)
+                self.form.limitLenMaxSpinbox.setEnabled(self.joint.EnableLengthMax)
+            else:
+                self.form.limitCheckbox1.hide()
+                self.form.limitCheckbox2.hide()
+                self.form.limitLenMinSpinbox.hide()
+                self.form.limitLenMaxSpinbox.hide()
+
+            if needAngleLimits:
+                self.form.limitCheckbox3.show()
+                self.form.limitCheckbox4.show()
+                self.form.limitRotMinSpinbox.show()
+                self.form.limitRotMaxSpinbox.show()
+                self.form.limitRotMinSpinbox.setEnabled(self.joint.EnableAngleMin)
+                self.form.limitRotMaxSpinbox.setEnabled(self.joint.EnableAngleMax)
+            else:
+                self.form.limitCheckbox3.hide()
+                self.form.limitCheckbox4.hide()
+                self.form.limitRotMinSpinbox.hide()
+                self.form.limitRotMaxSpinbox.hide()
 
-        if needAngleLimits and showLimits:
-            self.form.limitRotMinSpinboxLabel.show()
-            self.form.limitRotMaxSpinboxLabel.show()
-            self.form.limitRotMinSpinbox.show()
-            self.form.limitRotMaxSpinbox.show()
         else:
-            self.form.limitRotMinSpinboxLabel.hide()
-            self.form.limitRotMaxSpinboxLabel.hide()
-            self.form.limitRotMinSpinbox.hide()
-            self.form.limitRotMaxSpinbox.hide()
+            self.form.groupBox_limits.hide()
 
     def updateTaskboxFromJoint(self):
         self.current_selection = []
@@ -1617,7 +1662,10 @@ class TaskAssemblyCreateJoint(QtCore.QObject):
         self.form.offsetSpinbox.setProperty("rawValue", self.joint.Offset.z)
         self.form.rotationSpinbox.setProperty("rawValue", self.joint.Rotation)
 
-        self.form.LimitCheckbox.setChecked(self.joint.EnableLimits)
+        self.form.limitCheckbox1.setChecked(self.joint.EnableLengthMin)
+        self.form.limitCheckbox2.setChecked(self.joint.EnableLengthMax)
+        self.form.limitCheckbox3.setChecked(self.joint.EnableAngleMin)
+        self.form.limitCheckbox4.setChecked(self.joint.EnableAngleMax)
         self.form.limitLenMinSpinbox.setProperty("rawValue", self.joint.LengthMin)
         self.form.limitLenMaxSpinbox.setProperty("rawValue", self.joint.LengthMax)
         self.form.limitRotMinSpinbox.setProperty("rawValue", self.joint.AngleMin)