diff --git a/abb_irb1600_support/launch/robot_interface_download_irb1600_10_145.launch b/abb_irb1600_support/launch/robot_interface_download_irb1600_10_145.launch
index 13879de..2d04d28 100644
--- a/abb_irb1600_support/launch/robot_interface_download_irb1600_10_145.launch
+++ b/abb_irb1600_support/launch/robot_interface_download_irb1600_10_145.launch
@@ -2,14 +2,14 @@
   Manipulator specific version of abb_driver's 'robot_interface.launch'.
 
   Defaults provided for IRB 1600:
-   - J23_coupled = true
+   - J23_coupled = false
 
   Usage:
     robot_interface_download_irb1600.launch robot_ip:=<value>
 -->
 <launch>
   <arg name="robot_ip" doc="IP of the controller" />
-  <arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
+  <arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />
 
   <rosparam command="load" file="$(find abb_irb1600_support)/config/joint_names_irb1600_10_145.yaml" />
 
diff --git a/abb_irb1600_support/launch/robot_interface_download_irb1600_6_12.launch b/abb_irb1600_support/launch/robot_interface_download_irb1600_6_12.launch
index 4a428cd..300bcc5 100644
--- a/abb_irb1600_support/launch/robot_interface_download_irb1600_6_12.launch
+++ b/abb_irb1600_support/launch/robot_interface_download_irb1600_6_12.launch
@@ -2,14 +2,14 @@
   Manipulator specific version of abb_driver's 'robot_interface.launch'.
 
   Defaults provided for IRB 1600:
-   - J23_coupled = true
+   - J23_coupled = false
 
   Usage:
     robot_interface_download_irb1600.launch robot_ip:=<value>
 -->
 <launch>
   <arg name="robot_ip" doc="IP of the controller" />
-  <arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
+  <arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />
 
   <rosparam command="load" file="$(find abb_irb1600_support)/config/joint_names_irb1600_6_12.yaml" />
 
diff --git a/abb_irb1600_support/launch/robot_state_visualize_irb1600_10_145.launch b/abb_irb1600_support/launch/robot_state_visualize_irb1600_10_145.launch
index a2cade9..f92deaf 100644
--- a/abb_irb1600_support/launch/robot_state_visualize_irb1600_10_145.launch
+++ b/abb_irb1600_support/launch/robot_state_visualize_irb1600_10_145.launch
@@ -2,14 +2,14 @@
   Manipulator specific version of the state visualizer.
 
   Defaults provided for IRB 2400:
-   - J23_coupled = true
+   - J23_coupled = false
 
   Usage:
     robot_state_visualize_irb2400.launch robot_ip:=<value>
 -->
 <launch>
   <arg name="robot_ip" doc="IP of the controller" />
-  <arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
+  <arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />
 
   <rosparam command="load" file="$(find abb_irb1600_support)/config/joint_names_irb1600_10_145.yaml" />
 
diff --git a/abb_irb1600_support/launch/robot_state_visualize_irb1600_6_12.launch b/abb_irb1600_support/launch/robot_state_visualize_irb1600_6_12.launch
index c6e9233..5cf101f 100644
--- a/abb_irb1600_support/launch/robot_state_visualize_irb1600_6_12.launch
+++ b/abb_irb1600_support/launch/robot_state_visualize_irb1600_6_12.launch
@@ -2,14 +2,14 @@
   Manipulator specific version of the state visualizer.
 
   Defaults provided for IRB 2400:
-   - J23_coupled = true
+   - J23_coupled = false
 
   Usage:
     robot_state_visualize_irb2400.launch robot_ip:=<value>
 -->
 <launch>
   <arg name="robot_ip" doc="IP of the controller" />
-  <arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
+  <arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />
 
   <rosparam command="load" file="$(find abb_irb1600_support)/config/joint_names_irb1600_6_12.yaml" />