diff --git a/ur_rtde_driver/src/ur/ur_driver.cpp b/ur_rtde_driver/src/ur/ur_driver.cpp
index 5cdedc7..56060d1 100644
--- a/ur_rtde_driver/src/ur/ur_driver.cpp
+++ b/ur_rtde_driver/src/ur/ur_driver.cpp
@@ -174,9 +174,8 @@ std::unique_ptr<rtde_interface::DataPackage> ur_driver::UrDriver::getDataPackage
 {
   // TODO: This goes into the rtde_client
   std::unique_ptr<comm::URPackage<rtde_interface::PackageHeader>> urpackage;
-  uint32_t period_ms = (1.0 / rtde_frequency_) * 1000;
-  // std::chrono::milliseconds timeout(period_ms);
-  std::chrono::milliseconds timeout(100);
+  std::chrono::milliseconds timeout(100);  // We deliberately have a quite large timeout here, as the robot itself
+                                           // should command the control loop's timing.
   if (rtde_client_->getDataPackage(urpackage, timeout))
   {
     rtde_interface::DataPackage* tmp = dynamic_cast<rtde_interface::DataPackage*>(urpackage.get());