Thanks @mango.freund @davebYYPCU for your assistance.
I think I worked out a different way of achieving what I want and that is to use a contact set to stop the blue and grey parts contacting when moving the ball joint around, I also removed all joint limits for this to work properly.
But as this is a ball joint I don't understand why the joint limits cant contain the ball in the socket correctly using pitch, yaw and roll. Its as if the ball moves in an incorrectly calculated path between the pitch and yaw planes.
I attach my updated file, if you don't mind to check and concur that would be appreciated. thanks again.
