diff --git a/src/joint_trajectory_action/joint_trajectory_action.py b/src/joint_trajectory_action/joint_trajectory_action.py
index f5f7734..48f7c9d 100644
--- a/src/joint_trajectory_action/joint_trajectory_action.py
+++ b/src/joint_trajectory_action/joint_trajectory_action.py
@@ -348,6 +348,11 @@ def _on_trajectory_action(self, goal):
             rospy.logerr("%s: Empty Trajectory" % (self._action_name,))
             self._server.set_aborted()
             return
+        elif num_points <= 2:
+            rospy.logerr("%s: From SDK 1.1.0, Trajectory need at least 3 trajectories" % (self._action_name,))
+            self._server.set_aborted()
+            return
+
         rospy.loginfo("%s: Executing requested joint trajectory" %
                       (self._action_name,))
         rospy.logdebug("Trajectory Points: {0}".format(trajectory_points))