diff --git a/ur5_moveit_config/config/kinematics.yaml b/ur5_moveit_config/config/kinematics.yaml
index 5ed94f2a4df1df20ed143f9a9b2b3b9c2d15493e..7b3d7afd72ec2944eb9beb5aa306bfe9c37e8212 100644
--- a/ur5_moveit_config/config/kinematics.yaml
+++ b/ur5_moveit_config/config/kinematics.yaml
@@ -1,10 +1,11 @@
-manipulator:
-  kinematics_solver: ur_kinematics/UR5KinematicsPlugin
-  kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
+## the UR5KinematicsPlugin only works with the unlimited UR5, i.e. limited:=false
 #manipulator:
-#  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+#  kinematics_solver: ur_kinematics/UR5KinematicsPlugin
 #  kinematics_solver_search_resolution: 0.005
 #  kinematics_solver_timeout: 0.005
-#  kinematics_solver_attempts: 3
\ No newline at end of file
+#  kinematics_solver_attempts: 3
+manipulator:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
+  kinematics_solver_attempts: 3
\ No newline at end of file