diff --git a/src/ur_communication.cpp b/src/ur_communication.cpp
index 2b5224b..0f27cc7 100644
--- a/src/ur_communication.cpp
+++ b/src/ur_communication.cpp
@@ -44,10 +44,14 @@ UrCommunication::UrCommunication(std::condition_variable& msg_cond,
 	flag_ = 1;
 	setsockopt(pri_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
 			sizeof(int));
+	setsockopt(pri_sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_,
+			sizeof(int));
 	setsockopt(pri_sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_,
 			sizeof(int));
 	setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
 			sizeof(int));
+	setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_,
+			sizeof(int));
 	setsockopt(sec_sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_,
 			sizeof(int));
 	fcntl(sec_sockfd_, F_SETFL, O_NONBLOCK);
@@ -69,7 +73,7 @@ bool UrCommunication::start() {
 	}
 	print_debug("Acquire firmware version: Got connection");
 	bytes_read = read(pri_sockfd_, buf, 512);
-	setsockopt(pri_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
+	setsockopt(pri_sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_,
 			sizeof(int));
 	robot_state_->unpack(buf, bytes_read);
 	//wait for some traffic so the UR socket doesn't die in version 3.1.
@@ -124,7 +128,7 @@ void UrCommunication::run() {
 			select(sec_sockfd_ + 1, &readfds, NULL, NULL, &timeout);
 			bytes_read = read(sec_sockfd_, buf, 2048); // usually only up to 1295 bytes
 			if (bytes_read > 0) {
-				setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_NODELAY,
+				setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_QUICKACK,
 						(char *) &flag_, sizeof(int));
 				robot_state_->unpack(buf, bytes_read);
 			} else {
@@ -143,6 +147,8 @@ void UrCommunication::run() {
 			flag_ = 1;
 			setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
 					sizeof(int));
+			setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_,
+					sizeof(int));
 			setsockopt(sec_sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_,
 					sizeof(int));
 			fcntl(sec_sockfd_, F_SETFL, O_NONBLOCK);
diff --git a/src/ur_realtime_communication.cpp b/src/ur_realtime_communication.cpp
index 413b4e6..62724bb 100644
--- a/src/ur_realtime_communication.cpp
+++ b/src/ur_realtime_communication.cpp
@@ -36,6 +36,7 @@ UrRealtimeCommunication::UrRealtimeCommunication(
 	serv_addr_.sin_port = htons(30003);
 	flag_ = 1;
 	setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, sizeof(int));
+	setsockopt(sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_, sizeof(int));
 	setsockopt(sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_, sizeof(int));
 	fcntl(sockfd_, F_SETFL, O_NONBLOCK);
 	connected_ = false;
@@ -121,7 +122,7 @@ void UrRealtimeCommunication::run() {
 			select(sockfd_ + 1, &readfds, NULL, NULL, &timeout);
 			bytes_read = read(sockfd_, buf, 2048);
 			if (bytes_read > 0) {
-				setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
+				setsockopt(sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_, 
 						sizeof(int));
 				robot_state_->unpack(buf);
 				if (safety_count_ == safety_count_max_) {
@@ -143,6 +144,9 @@ void UrRealtimeCommunication::run() {
 			flag_ = 1;
 			setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
 					sizeof(int));
+			setsockopt(sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_, 
+					sizeof(int));
+	
 			setsockopt(sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_,
 					sizeof(int));
 			fcntl(sockfd_, F_SETFL, O_NONBLOCK);