diff --git a/doc/architecture/instruction_executor.rst b/doc/architecture/instruction_executor.rst
index 1df1a3ef..2e2f9963 100644
--- a/doc/architecture/instruction_executor.rst
+++ b/doc/architecture/instruction_executor.rst
@@ -19,7 +19,7 @@ for sending motion instructions to the robot. Hence, it requires a :ref:`ur_driv
    or `movel
    <https://www.universal-robots.com/manuals/EN/HTML/SW5_20/Content/prod-scriptmanual/G5/movel_posea12v025t.htm>`_.
    Therefore, all parameters and restrictions of these functions apply. For example, velocity and
-   acceleration parameters will be ignored if there is a time != 0 given.
+   acceleration parameters will be ignored if there is a time > 0 given.
 
 As a minimal working example, please see ``examples/instruction_executor.cpp`` example:
 
diff --git a/doc/architecture/trajectory_point_interface.rst b/doc/architecture/trajectory_point_interface.rst
index d9c2ec3f..bdb089db 100644
--- a/doc/architecture/trajectory_point_interface.rst
+++ b/doc/architecture/trajectory_point_interface.rst
@@ -24,7 +24,7 @@ externally), the robot will send a response back to the control PC via the traje
    or `movel
    <https://www.universal-robots.com/manuals/EN/HTML/SW5_20/Content/prod-scriptmanual/G5/movel_posea12v025t.htm>`_.
    Therefore, all parameters and restrictions of these functions apply. For example, velocity and
-   acceleration parameters will be ignored if there is a time != 0 given.
+   acceleration parameters will be ignored if there is a time > 0 given.
 
 
 Communication protocol