Sean Clerkin, 53, is alleged to have run on to Darnley Road, Barrhead, East Renfrewshire, on Wednesday in a bid to disrupt the baton's progress.
At Paisley Sheriff Court, he denied the charge. Mr Clerkin was released on bail pending a trial date next year.
As a condition of bail, he is not allowed near the Baton Relay or any event zone during the Games.
A man has appeared in court charged with trying to disrupt the Commonwealth Games Queen's Baton Relay.