diff --git a/ur_robot_driver/config/ur_controllers.yaml b/ur_robot_driver/config/ur_controllers.yaml
index b2292faa2..cf3a9984c 100644
--- a/ur_robot_driver/config/ur_controllers.yaml
+++ b/ur_robot_driver/config/ur_controllers.yaml
@@ -42,6 +42,14 @@ controller_manager:
     tool_contact_controller:
       type: ur_controllers/ToolContactController
 
+    # The way this is currently implemented upstream doesn't really work for us. When using
+    # position control, the robot will have a tracking error. However, limits will be enforced
+    # from the currently reported position, effectively limiting the possible step size using the
+    # joints' velocity limits. Until this is resolved, we will keep command limits non-enforced.
+    # Note: On Jazzy this is the default behavior, anyway. For Rolling / Kilted this defaults to
+    # true.
+    enforce_command_limits: false
+
 speed_scaling_state_broadcaster:
   ros__parameters:
     state_publish_rate: 100.0