selective filter circuit for analog demand signal in servo drive

[Apothus]

I am looking for a shove in the right direction with this problem.
We use servo amplifiers as part of our control system for a linear actuator. We also have limit switches to stop the actuators turning into paperweights.
The demand signal for the amplifiers is a +/- 10V signal from a DAC or a manual override pot.

I need to derive some protection circuit that will allow me to filter out only positive or negative demand signals based on the status of the limit switches (inverted logic for safety).
The circuit does not need to be fast as our actuators are pretty slow however we need to maintain a full scale signal as we do use the full range, so we cant just cut in diodes.

[Apothus]

Can A MOD delete this, posted in wrong section. My apologies.

[nctnico]

Hint: integrator