diff --git a/fanuc_moveit_config/config/moveit_controllers.yaml b/fanuc_moveit_config/config/moveit_controllers.yaml
index 46effbe..b97bf93 100644
--- a/fanuc_moveit_config/config/moveit_controllers.yaml
+++ b/fanuc_moveit_config/config/moveit_controllers.yaml
@@ -3,7 +3,7 @@ trajectory_execution:
   allowed_execution_duration_scaling: 1.2
   allowed_goal_duration_margin: 0.5
   allowed_start_tolerance: 0.01
-  trajectory_duration_monitoring: true
+  execution_duration_monitoring: true
 
 moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
 
diff --git a/panda_moveit_config/config/moveit_controllers.yaml b/panda_moveit_config/config/moveit_controllers.yaml
index dc7abad..69d9574 100644
--- a/panda_moveit_config/config/moveit_controllers.yaml
+++ b/panda_moveit_config/config/moveit_controllers.yaml
@@ -3,7 +3,7 @@ trajectory_execution:
   allowed_execution_duration_scaling: 1.2
   allowed_goal_duration_margin: 0.5
   allowed_start_tolerance: 0.01
-  trajectory_duration_monitoring: true
+  execution_duration_monitoring: true
 
 moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager