Lesedi can safely point between 30 and 89 degrees above the horizon, at any azimuth. There are no obstructions in the dome to be aware of (assuming the observing floor has been checked for ladders etc).
If the telescope reaches an altitude limit, it will simply stop tracking and can be pointed to a new position. If it reaches an azimuth limit while tracking, it should automatically "rewind" and continue tracking the same object. (If it doesn't, you will need to simply repoint the telescope.)
== The TCS ==