diff --git a/ur_rtde_driver/src/rtde/control_package_setup_inputs.cpp b/ur_rtde_driver/src/rtde/control_package_setup_inputs.cpp
index 7227a39..28b4362 100644
--- a/ur_rtde_driver/src/rtde/control_package_setup_inputs.cpp
+++ b/ur_rtde_driver/src/rtde/control_package_setup_inputs.cpp
@@ -58,7 +58,7 @@ size_t ControlPackageSetupInputsRequest::generateSerializedRequest(uint8_t* buff
   for (const auto& piece : variable_names)
     variables += (piece + ",");
   variables.pop_back();
-  uint16_t payload_size = sizeof(double) + variables.size();
+  uint16_t payload_size = variables.size();
 
   size_t size = 0;
   size += PackageHeader::serializeHeader(buffer, PACKAGE_TYPE, payload_size);
diff --git a/ur_rtde_driver/src/rtde/control_package_setup_outputs.cpp b/ur_rtde_driver/src/rtde/control_package_setup_outputs.cpp
index 03f4cea..e804046 100644
--- a/ur_rtde_driver/src/rtde/control_package_setup_outputs.cpp
+++ b/ur_rtde_driver/src/rtde/control_package_setup_outputs.cpp
@@ -79,7 +79,7 @@ size_t ControlPackageSetupOutputsRequest::generateSerializedRequest(uint8_t* buf
   for (const auto& piece : variable_names)
     variables += (piece + ",");
   variables.pop_back();
-  uint16_t payload_size = sizeof(double) + variables.size();
+  uint16_t payload_size = variables.size();
 
   size_t size = 0;
   size += PackageHeader::serializeHeader(buffer, PACKAGE_TYPE, payload_size);