Revolute2 joint axis2 limits not working?

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Has anybody been able to get the limits to work for the second axis on a revolute2 joint? Here is the model SDF I'm using:

<joint name="FL_Joint" type="revolute2">
  <parent>Link1</parent>
  <child>Link2</child>
  <pose>0 0 0 0 0 0</pose>
  <axis>
    <xyz>0 0 1</xyz>
    <limit>
      <lower>-0.785398</lower>
      <upper>0.785398</upper>
    </limit>
  </axis>
  <axis2>
    <xyz>0 1 0</xyz>
    <limit>
      <lower>-0.785398</lower>
      <upper>0.785398</upper>
    </limit>
  </axis2>
</joint>

The limits work for the first axis, but not for the second axis. Any thoughts?