diff --git a/ur_controllers/src/scaled_joint_trajectory_controller.cpp b/ur_controllers/src/scaled_joint_trajectory_controller.cpp
index bdc935b0d..01789523a 100644
--- a/ur_controllers/src/scaled_joint_trajectory_controller.cpp
+++ b/ur_controllers/src/scaled_joint_trajectory_controller.cpp
@@ -358,8 +358,8 @@ void ScaledJointTrajectoryController::update_pids()
     const auto& gains = params_.gains.joints_map.at(params_.joints.at(map_cmd_to_joints_[i]));
     control_toolbox::AntiWindupStrategy antiwindup_strat;
     antiwindup_strat.set_type(gains.antiwindup_strategy);
-    antiwindup_strat.i_max = gains.i_clamp;
-    antiwindup_strat.i_min = -gains.i_clamp;
+    antiwindup_strat.i_max = gains.i_clamp_max;
+    antiwindup_strat.i_min = gains.i_clamp_min;
     antiwindup_strat.error_deadband = gains.error_deadband;
     antiwindup_strat.tracking_time_constant = gains.tracking_time_constant;
     if (pids_[i]) {