diff --git a/lbr_moveit_config/doc/lbr_moveit_config.rst b/lbr_moveit_config/doc/lbr_moveit_config.rst
index 207d2a86..245aab41 100644
--- a/lbr_moveit_config/doc/lbr_moveit_config.rst
+++ b/lbr_moveit_config/doc/lbr_moveit_config.rst
@@ -90,7 +90,7 @@ This procedure applies to all LBRs: ``iiwa7``, ``iiwa14``, ``med7``, and ``med14
     
     #. In the `move_group.launch.py <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_moveit_config/iiwa7_moveit_config/launch/move_group.launch.py>`_ use the robot descriotion from ``lbr_description``
     
-    #. In `moveit_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_moveit_config/iiwa7_moveit_config/config/moveit_controllers.yaml>`_ change the ``arm_controller`` to ``position_trajectory_controller``, as in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_ros2_control/config/lbr_controllers.yaml>`_ 
+    #. In `moveit_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_moveit_config/iiwa7_moveit_config/config/moveit_controllers.yaml>`_ change the ``arm_controller`` to ``joint_trajectory_controller``, as in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_ros2_control/config/lbr_controllers.yaml>`_ 
 
 Update MoveIt Configuration 
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