diff --git a/include/ur_modern_driver/ur_driver.h b/include/ur_modern_driver/ur_driver.h
index 615b17c..13d7879 100644
--- a/include/ur_modern_driver/ur_driver.h
+++ b/include/ur_modern_driver/ur_driver.h
@@ -17,11 +17,13 @@
 #include "ur_realtime_communication.h"
 
 class UrDriver {
+private:
+	double maximum_time_step_;
 public:
 	UrRealtimeCommunication* rt_interface_;
 
 	UrDriver(std::condition_variable& msg_cond, std::string host,
-			uint safety_count_max = 12);
+			unsigned int safety_count_max = 12);
 	void start();
 	void halt();
 	void setSpeed(double q0, double q1, double q2, double q3, double q4,
diff --git a/include/ur_modern_driver/ur_realtime_communication.h b/include/ur_modern_driver/ur_realtime_communication.h
index eecdd66..1d15e96 100644
--- a/include/ur_modern_driver/ur_realtime_communication.h
+++ b/include/ur_modern_driver/ur_realtime_communication.h
@@ -32,7 +32,7 @@
 class UrRealtimeCommunication {
 private:
 	const double SAMPLETIME_;
-	uint safety_count_max_;
+	unsigned int safety_count_max_;
 	int sockfd_;
 	struct sockaddr_in serv_addr_;
 	struct hostent *server_;
@@ -41,7 +41,7 @@ private:
 	int flag_;
 	std::recursive_mutex command_string_lock_;
 	std::string command_;
-	uint safety_count_;
+	unsigned int safety_count_;
 	void run();
 
 public:
@@ -49,7 +49,7 @@ public:
 	RobotStateRT* robot_state_;
 
 	UrRealtimeCommunication(std::condition_variable& msg_cond, std::string host,
-			uint safety_count_max = 12);
+			unsigned int safety_count_max = 12);
 	void start();
 	void halt();
 	void setSpeed(double q0, double q1, double q2, double q3, double q4,
diff --git a/src/ur_driver.cpp b/src/ur_driver.cpp
index 5856c64..bd09f77 100644
--- a/src/ur_driver.cpp
+++ b/src/ur_driver.cpp
@@ -12,7 +12,7 @@
 #include "ur_modern_driver/ur_driver.h"
 
 UrDriver::UrDriver(std::condition_variable& msg_cond, std::string host,
-		uint safety_count_max) {
+		unsigned int safety_count_max) {
 	rt_interface_ = new UrRealtimeCommunication(msg_cond, host,
 			safety_count_max);
 
diff --git a/src/ur_realtime_communication.cpp b/src/ur_realtime_communication.cpp
index b5dd82b..99edfad 100644
--- a/src/ur_realtime_communication.cpp
+++ b/src/ur_realtime_communication.cpp
@@ -13,7 +13,7 @@
 
 UrRealtimeCommunication::UrRealtimeCommunication(
 		std::condition_variable& msg_cond, std::string host,
-		uint safety_count_max) :
+		unsigned int safety_count_max) :
 		SAMPLETIME_(0.008) {
 	robot_state_ = new RobotStateRT(msg_cond);
 	bzero((char *) &serv_addr_, sizeof(serv_addr_));