diff --git a/ur_driver/prog b/ur_driver/prog
index 6f118e1a5880171dd56f9cb3e14f73ec34aaaae0..eaebfa7895cd1838f8d34b51efd1ec4faee94cc1 100644
--- a/ur_driver/prog
+++ b/ur_driver/prog
@@ -217,6 +217,8 @@ def driverProg():
         #servoj(q, 3, 0.1, t)
         #send_waypoint_finished(waypoint_id)
         set_servo_setpoint(waypoint_id, q, t)
+      elif mtype == MSG_SET_PAYLOAD:
+	send_out("Received new payload")
       elif mtype == MSG_STOPJ:
         send_out("Received stopj")
         stopj(1.0)
diff --git a/ur_driver/src/ur_driver/driver.py b/ur_driver/src/ur_driver/driver.py
index b799bfc91848b7c00481f188a9d2f6967c65b7da..20d64ee9da7c9c28cef691a63d0f8d7c6c15c180 100755
--- a/ur_driver/src/ur_driver/driver.py
+++ b/ur_driver/src/ur_driver/driver.py
@@ -46,6 +46,7 @@ MSG_MOVEJ = 4
 MSG_WAYPOINT_FINISHED = 5
 MSG_STOPJ = 6
 MSG_SERVOJ = 7
+MSG_SET_PAYLOAD = 8
 MSG_WRENCH = 9
 MSG_SET_DIGITAL_OUT = 10
 MSG_GET_IO = 11