diff --git a/src/ur_realtime_communication.cpp b/src/ur_realtime_communication.cpp
index f841455..90f0cfe 100644
--- a/src/ur_realtime_communication.cpp
+++ b/src/ur_realtime_communication.cpp
@@ -98,9 +98,16 @@ void UrRealtimeCommunication::addCommandToQueue(std::string inp) {
 void UrRealtimeCommunication::setSpeed(double q0, double q1, double q2,
 		double q3, double q4, double q5, double acc) {
 	char cmd[1024];
-	sprintf(cmd,
-			"speedj([%1.5f, %1.5f, %1.5f, %1.5f, %1.5f, %1.5f], %f, 0.02)\n",
-			q0, q1, q2, q3, q4, q5, acc);
+	if( robot_state_->getVersion() >= 3.1 ) {
+		sprintf(cmd,
+				"speedj([%1.5f, %1.5f, %1.5f, %1.5f, %1.5f, %1.5f], %f)\n",
+				q0, q1, q2, q3, q4, q5, acc);
+	}
+	else {
+		sprintf(cmd,
+				"speedj([%1.5f, %1.5f, %1.5f, %1.5f, %1.5f, %1.5f], %f, 0.02)\n",
+				q0, q1, q2, q3, q4, q5, acc);		
+	}
 	addCommandToQueue((std::string) (cmd));
 	if (q0 != 0. or q1 != 0. or q2 != 0. or q3 != 0. or q4 != 0. or q5 != 0.) {
 		//If a joint speed is set, make sure we stop it again after some time if the user doesn't