diff --git a/scripts/config/trajectory_generation::RMLCartesianPositionTask.yml b/scripts/config/trajectory_generation::RMLCartesianPositionTask.yml
index da0251b..eee1871 100644
--- a/scripts/config/trajectory_generation::RMLCartesianPositionTask.yml
+++ b/scripts/config/trajectory_generation::RMLCartesianPositionTask.yml
@@ -1,6 +1,4 @@
 --- name:default
-# Cycle Time is seconds. IMPORTANT: This value has to match the period of the component. Default is 0.01 which matches the default period.
-cycle_time: 0.01
 # Motion constraints that define the properties of the output trajectory that is sent on the command-port.
 # These include the maximum/minimum position (only Reflexxes TypeIV), maximum maximum speed, maximum acceleration and maximum jerk
 # (derivative of acceleration, only Reflexxes TypeIV).
diff --git a/scripts/config/trajectory_generation::RMLCartesianVelocityTask.yml b/scripts/config/trajectory_generation::RMLCartesianVelocityTask.yml
index d2fb5a3..3ae3677 100644
--- a/scripts/config/trajectory_generation::RMLCartesianVelocityTask.yml
+++ b/scripts/config/trajectory_generation::RMLCartesianVelocityTask.yml
@@ -1,8 +1,6 @@
 --- name:default
 # Convert the output command to a position based trajectory
 convert_to_position: false
-# Cycle Time is seconds. IMPORTANT: This value has to match the period of the component. Default is 0.01 which matches the default period.
-cycle_time: 0.01
 # Motion constraints that define the properties of the output trajectory that is sent on the command-port.
 # These include the maximum/minimum position (only Reflexxes TypeIV), maximum maximum speed, maximum acceleration and maximum jerk
 # (derivative of acceleration, only Reflexxes TypeIV).
diff --git a/scripts/config/trajectory_generation::RMLPositionTask.yml b/scripts/config/trajectory_generation::RMLPositionTask.yml
index 6f6389b..7eaec17 100644
--- a/scripts/config/trajectory_generation::RMLPositionTask.yml
+++ b/scripts/config/trajectory_generation::RMLPositionTask.yml
@@ -1,7 +1,4 @@
 --- name:default
-# Cycle Time is seconds. IMPORTANT: This value has to match the period of the component. Default is 0.01 which matches the default period.
-cycle_time: 0.01
-
 # Motion constraints that define the properties of the output trajectory (command-port). These include the maximum/minimum position,
 # maximum maximum speed, maximum acceleration and maximum jerk (derivative of acceleration).
 motion_constraints:
diff --git a/scripts/config/trajectory_generation::RMLVelocityTask.yml b/scripts/config/trajectory_generation::RMLVelocityTask.yml
index 84c5ec0..b40b66a 100644
--- a/scripts/config/trajectory_generation::RMLVelocityTask.yml
+++ b/scripts/config/trajectory_generation::RMLVelocityTask.yml
@@ -1,7 +1,4 @@
 --- name:default
-# Cycle Time is seconds. IMPORTANT: This value has to match the period of the component. Default is 0.01 which matches the default period.
-cycle_time: 0.01
-
 # Motion constraints that define the properties of the output trajectory (command-port). These include the maximum/minimum position,
 # maximum maximum speed, maximum acceleration and maximum jerk (derivative of acceleration).
 motion_constraints: