Integration Limit (ILim)
Sets an upper bound for the contribution of the integral term in the PID loop.
The scaled integration sum is compared to the integration limit and the lesser of the two values is multiplied by Ki to produce the integral term of the control output. This limiting function is indicated with LIMIT() in the following integral term output equation: 
You can use Ilim to limit excessive restoring forces and to minimize the adverse effects that integral compensation has during acceleration and deceleration.
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Note Ilim has no effect when Ki is equal to zero. |