diff --git a/urx/urrobot.py b/urx/urrobot.py
index a76359f..28e79ed 100644
--- a/urx/urrobot.py
+++ b/urx/urrobot.py
@@ -314,7 +314,7 @@ class URRobot(object):
         vels = [round(i, self.max_float_length) for i in velocities]
         vels.append(acc)
         vels.append(min_time)
-        prog = "{}([{},{},{},{},{},{}], a={}, t={})".format(command, *vels)
+        prog = "{}([{},{},{},{},{},{}], {}, {})".format(command, *vels)
         self.send_program(prog)
 
     def movej(self, joints, acc=0.1, vel=0.05, wait=True, relative=False, threshold=None):