Problems with limit switch in closed loop

Hello,
I am using the SDC2130-S with \"Roboteq v1.2 RCB100 06/03/2012\" firmware.
when im in open loop speed mode the reverse ans forward limit switches work fine. in closed loop speed mode when the limit switch is activated the motor stops but when i release the switch it start to turn really fast before resuming to the required speed. this also happens when i change the command direction. i noticed that it only happens when the I in the PID is not zero. i think that the controller sum for the I argument is summing the error even when the limit switch is on so when it released the controller output is huge.
btw, i have the same problem in closed loop count position mode.
any ides how to solve this?
thank you,
Yam

Your analysis of the problem looks correct. We\'ll look into the firmware asap.

Thanks, do you have an estimate of when the fix will be published?

Sorry for the delay. We\'ll try to have this done by the end of this week.

Sorry to bother but there is progress or expected release of fix?

Please try the attached firmware which clears the integrator when limit switches are hit.