diff --git a/src/ur_communication.cpp b/src/ur_communication.cpp
index e007392..52e9cff 100644
--- a/src/ur_communication.cpp
+++ b/src/ur_communication.cpp
@@ -104,6 +104,8 @@ void UrCommunication::run() {
 		command_string_lock_.unlock();
 
 	}
+	//wait for some traffic so the UR socket doesn't die in version 3.1.
+	std::this_thread::sleep_for(std::chrono::milliseconds(500));
 	close(sockfd_);
 }
 
diff --git a/src/ur_realtime_communication.cpp b/src/ur_realtime_communication.cpp
index 9692b75..99b1348 100644
--- a/src/ur_realtime_communication.cpp
+++ b/src/ur_realtime_communication.cpp
@@ -99,6 +99,8 @@ void UrRealtimeCommunication::run() {
 		command_string_lock_.unlock();
 
 	}
+	setSpeed(0., 0., 0., 0., 0., 0.);
+	write(sockfd_, command_.c_str(), command_.length());
 	close(sockfd_);
 }