The limits of free speech

Andy left a comment on EU holocaust denial ban, that really posed the question: what, if any, are the limits of free speech? I remembered an interview with Noam Chomsky where he said:

In brief, speech should be protected up to participation in imminent criminal action. So if you and I go into a store to rob it, and I say "shoot," that's not protected.

I think I'll go with that.