diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h b/ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h
index fa25fad..e99555c 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h
@@ -39,6 +39,7 @@ namespace ur_driver
 namespace primary_interface
 {
 static const int UR_PRIMARY_PORT = 30001;
+static const int UR_SECONDARY_PORT = 30002;
 enum class RobotPackageType : int8_t
 {
   DISCONNECT = -1,
diff --git a/ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h b/ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h
index 13659a4..554cde0 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h
@@ -140,6 +140,7 @@ private:
   std::unique_ptr<comm::ReverseInterface> reverse_interface_;
   std::unique_ptr<comm::ScriptSender> script_sender_;
   std::unique_ptr<comm::URStream<ur_driver::primary_interface::PackageHeader>> primary_stream_;
+  std::unique_ptr<comm::URStream<ur_driver::primary_interface::PackageHeader>> secondary_stream_;
 
   double servoj_time_;
   uint32_t servoj_gain_;
diff --git a/ur_rtde_driver/src/ur/ur_driver.cpp b/ur_rtde_driver/src/ur/ur_driver.cpp
index f7f3465..1774f4f 100644
--- a/ur_rtde_driver/src/ur/ur_driver.cpp
+++ b/ur_rtde_driver/src/ur/ur_driver.cpp
@@ -63,6 +63,9 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc
 
   primary_stream_.reset(new comm::URStream<ur_driver::primary_interface::PackageHeader>(
       robot_ip_, ur_driver::primary_interface::UR_PRIMARY_PORT));
+  secondary_stream_.reset(new comm::URStream<ur_driver::primary_interface::PackageHeader>(
+      robot_ip_, ur_driver::primary_interface::UR_SECONDARY_PORT));
+  secondary_stream_->connect();
   LOG_INFO("Checking if calibration data matches connected robot.");
   checkCalibration(calibration_checksum);
 
@@ -246,16 +249,17 @@ rtde_interface::RTDEWriter& UrDriver::getRTDEWriter()
 
 bool UrDriver::sendScript(const std::string& program)
 {
-  if (primary_stream_ == nullptr)
+  if (secondary_stream_ == nullptr)
   {
     throw std::runtime_error("Sending script to robot requested while there is no primary interface established. This "
                              "should not happen.");
   }
+
   size_t len = program.size();
   const uint8_t* data = reinterpret_cast<const uint8_t*>(program.c_str());
   size_t written;
 
-  if (primary_stream_->write(data, len, written))
+  if (secondary_stream_->write(data, len, written))
   {
     LOG_DEBUG("Sent program to robot");
     return true;