diff --git a/talos_roscontrol_sot/src/roscontrol-sot-controller.cpp b/talos_roscontrol_sot/src/roscontrol-sot-controller.cpp
index 98d90ea1275d464caf10f7cbd4b777edd3f04a9f..8af32fa9424af0b42ced0e960b86f715f95d6267 100644
--- a/talos_roscontrol_sot/src/roscontrol-sot-controller.cpp
+++ b/talos_roscontrol_sot/src/roscontrol-sot-controller.cpp
@@ -84,6 +84,9 @@ namespace talos_sot_controller
     /// Create SoT
     SotLoaderBasic::Initialization();
 
+    /// If we are in effort mode then the device should not do any integration.
+    if (control_mode_==EFFORT)
+      sotController_->setNoIntegration();
     return true;
   }