diff --git a/src/examples/test_ptu_d46.cpp b/src/examples/test_ptu_d46.cpp
index 00410f3fa4129c5e8bfec5c02c79d56b87aef764..24c3000d1f284fd5634f30e76d1226996b12375f 100755
--- a/src/examples/test_ptu_d46.cpp
+++ b/src/examples/test_ptu_d46.cpp
@@ -11,7 +11,7 @@ std::string serial_dev="/dev/ttyUSB0";
 int main(int argc, char * argv[])
 {
   CPTUD46 controller(cont_name);
-  std::vector<double> pos(2),vel(2),accel(2);
+  std::vector<double> pos(2),vel(2);
   int count=0,i=0;
 
   try{
@@ -31,14 +31,14 @@ int main(int argc, char * argv[])
       for(count=0;count<3;count++)
       {
         count++;
-        controller.move_absolute_angle(pos,vel,accel);
+        controller.move_absolute_angle(pos,vel);
         sleep(2);
       }
       pos[0]=-pos[0];
       for(count=0;count<3;count++)
       {
         count++;
-        controller.move_absolute_angle(pos,vel,accel);
+        controller.move_absolute_angle(pos,vel);
         sleep(2);
       }
     }
diff --git a/src/ptu_d46.cpp b/src/ptu_d46.cpp
index 69c39b02bd907133038ef37f196799ad97d05f7f..c2588d32f07c55bb4fbd7c138c34f891a704a686 100755
--- a/src/ptu_d46.cpp
+++ b/src/ptu_d46.cpp
@@ -440,7 +440,7 @@ unsigned int CPTUD46::get_num_motors(void)
   return 2;
 }
 
-void CPTUD46::move_absolute_angle(std::vector<double>& position, std::vector<double>& velocity, std::vector<double> &accel)
+void CPTUD46::move_absolute_angle(std::vector<double>& position, std::vector<double>& velocity)
 {
   std::vector<short int> position_cont(2),velocity_cont(2);
   unsigned char status;
@@ -487,7 +487,7 @@ void CPTUD46::move_absolute_angle(std::vector<double>& position, std::vector<dou
   }
 }
 
-void CPTUD46::move_relative_angle(std::vector<double>& position, std::vector<double>& velocity, std::vector<double> &accel)
+void CPTUD46::move_relative_angle(std::vector<double>& position, std::vector<double>& velocity)
 {
   std::vector<short int> position_cont(2),velocity_cont(2);
   std::vector<double> target_pos(2);
diff --git a/src/ptu_d46.h b/src/ptu_d46.h
index ed90d36f8476a43678ff3200018849db786e3dff..d443e89cbe53f32649264b911b08281aa34c55b7 100755
--- a/src/ptu_d46.h
+++ b/src/ptu_d46.h
@@ -152,12 +152,12 @@ class CPTUD46
      * \brief 
      *
      */
-    void move_absolute_angle(std::vector<double>& position, std::vector<double>& velocity,std::vector<double> &accel);
+    void move_absolute_angle(std::vector<double>& position, std::vector<double>& velocity);
     /**
      * \brief 
      *
      */
-    void move_relative_angle(std::vector<double>& position, std::vector<double>& velocity,std::vector<double> &accel);
+    void move_relative_angle(std::vector<double>& position, std::vector<double>& velocity);
     /**
      * \brief 
      *