diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.h b/ur_robot_driver/include/ur_robot_driver/hardware_interface.h
index 7a8e3deb6..8fe5cddad 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.h
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.h
@@ -52,6 +52,7 @@
 #include <ur_msgs/ToolDataMsg.h>
 #include <ur_msgs/SetIO.h>
 #include <ur_msgs/SetSpeedSliderFraction.h>
+#include <ur_msgs/SetPayload.h>
 
 #include <cartesian_interface/cartesian_command_interface.h>
 #include <cartesian_interface/cartesian_state_handle.h>
@@ -213,6 +214,7 @@ class HardwareInterface : public hardware_interface::RobotHW
   bool resendRobotProgram(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res);
   bool zeroFTSensor(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res);
   void commandCallback(const std_msgs::StringConstPtr& msg);
+  bool setPayload(ur_msgs::SetPayloadRequest& req, ur_msgs::SetPayloadResponse& res);
 
   std::unique_ptr<urcl::UrDriver> ur_driver_;
   std::unique_ptr<DashboardClientROS> dashboard_client_;
diff --git a/ur_robot_driver/launch/ur10_bringup.launch b/ur_robot_driver/launch/ur10_bringup.launch
index f0fa0ba2d..8686e418c 100644
--- a/ur_robot_driver/launch/ur10_bringup.launch
+++ b/ur_robot_driver/launch/ur10_bringup.launch
@@ -6,6 +6,7 @@
   <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="trajectory_port" default="50003" doc="Port that will be opened by the driver to allow trajectory forwarding."/>
+  <arg name="script_command_port" default="50004" doc="Port that will be opened by the driver to allow forwarding script commands to the robot."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
diff --git a/ur_robot_driver/launch/ur10e_bringup.launch b/ur_robot_driver/launch/ur10e_bringup.launch
index cdf2e25f6..2b98f6407 100644
--- a/ur_robot_driver/launch/ur10e_bringup.launch
+++ b/ur_robot_driver/launch/ur10e_bringup.launch
@@ -7,6 +7,7 @@
   <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="trajectory_port" default="50003" doc="Port that will be opened by the driver to allow trajectory forwarding."/>
+  <arg name="script_command_port" default="50004" doc="Port that will be opened by the driver to allow forwarding script commands to the robot."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
diff --git a/ur_robot_driver/launch/ur16e_bringup.launch b/ur_robot_driver/launch/ur16e_bringup.launch
index a04738ab1..40b6a7bf8 100644
--- a/ur_robot_driver/launch/ur16e_bringup.launch
+++ b/ur_robot_driver/launch/ur16e_bringup.launch
@@ -7,6 +7,7 @@
   <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="trajectory_port" default="50003" doc="Port that will be opened by the driver to allow trajectory forwarding."/>
+  <arg name="script_command_port" default="50004" doc="Port that will be opened by the driver to allow forwarding script commands to the robot."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
diff --git a/ur_robot_driver/launch/ur3_bringup.launch b/ur_robot_driver/launch/ur3_bringup.launch
index 53b60a43a..764b36634 100644
--- a/ur_robot_driver/launch/ur3_bringup.launch
+++ b/ur_robot_driver/launch/ur3_bringup.launch
@@ -6,6 +6,7 @@
   <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="trajectory_port" default="50003" doc="Port that will be opened by the driver to allow trajectory forwarding."/>
+  <arg name="script_command_port" default="50004" doc="Port that will be opened by the driver to allow forwarding script commands to the robot."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
diff --git a/ur_robot_driver/launch/ur3e_bringup.launch b/ur_robot_driver/launch/ur3e_bringup.launch
index ab5d8eba6..bbf4ff696 100644
--- a/ur_robot_driver/launch/ur3e_bringup.launch
+++ b/ur_robot_driver/launch/ur3e_bringup.launch
@@ -6,6 +6,7 @@
   <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="trajectory_port" default="50003" doc="Port that will be opened by the driver to allow trajectory forwarding."/>
+  <arg name="script_command_port" default="50004" doc="Port that will be opened by the driver to allow forwarding script commands to the robot."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
diff --git a/ur_robot_driver/launch/ur5_bringup.launch b/ur_robot_driver/launch/ur5_bringup.launch
index 86f8b4106..619118c2a 100644
--- a/ur_robot_driver/launch/ur5_bringup.launch
+++ b/ur_robot_driver/launch/ur5_bringup.launch
@@ -6,6 +6,7 @@
   <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="trajectory_port" default="50003" doc="Port that will be opened by the driver to allow trajectory forwarding."/>
+  <arg name="script_command_port" default="50004" doc="Port that will be opened by the driver to allow forwarding script commands to the robot."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
diff --git a/ur_robot_driver/launch/ur5e_bringup.launch b/ur_robot_driver/launch/ur5e_bringup.launch
index dd7eb9682..10a03b253 100644
--- a/ur_robot_driver/launch/ur5e_bringup.launch
+++ b/ur_robot_driver/launch/ur5e_bringup.launch
@@ -6,6 +6,7 @@
   <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="trajectory_port" default="50003" doc="Port that will be opened by the driver to allow trajectory forwarding."/>
+  <arg name="script_command_port" default="50004" doc="Port that will be opened by the driver to allow forwarding script commands to the robot."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller" doc="Controllers that are initally loaded, but not started."/>
diff --git a/ur_robot_driver/launch/ur_common.launch b/ur_robot_driver/launch/ur_common.launch
index 577a08415..4ca690e6f 100644
--- a/ur_robot_driver/launch/ur_common.launch
+++ b/ur_robot_driver/launch/ur_common.launch
@@ -8,6 +8,7 @@
   <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="trajectory_port" default="50003" doc="Port that will be opened by the driver to allow trajectory forwarding."/>
+  <arg name="script_command_port" default="50004" doc="Port that will be opened by the driver to allow forwarding script commands to the robot."/>
   <arg name="kinematics_config" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller robot_status_controller" doc="Controllers that are activated by default."/>
@@ -41,6 +42,7 @@
     <arg name="reverse_port" value="$(arg reverse_port)"/>
     <arg name="script_sender_port" value="$(arg script_sender_port)"/>
     <arg name="trajectory_port" value="$(arg trajectory_port)"/>
+    <param name="script_command_port" value="$(arg script_command_port)"/>
     <arg name="kinematics_config" value="$(arg kinematics_config)"/>
     <arg name="tf_prefix" value="$(arg tf_prefix)"/>
     <arg name="controllers" value="$(arg controllers)"/>
diff --git a/ur_robot_driver/launch/ur_control.launch b/ur_robot_driver/launch/ur_control.launch
index feab53d09..4a5ac651c 100644
--- a/ur_robot_driver/launch/ur_control.launch
+++ b/ur_robot_driver/launch/ur_control.launch
@@ -13,6 +13,7 @@
   <arg name="reverse_port" default="50001" doc="Port that will be opened by the driver to allow direct communication between the driver and the robot controller."/>
   <arg name="script_sender_port" default="50002" doc="The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately."/>
   <arg name="trajectory_port" default="50003" doc="Port that will be opened by the driver to allow trajectory forwarding."/>
+  <arg name="script_command_port" default="50004" doc="Port that will be opened by the driver to allow forwarding script commands to the robot."/>
   <arg name="kinematics_config" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description. Pass the same config file that is passed to the robot_description."/>
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller force_torque_sensor_controller robot_status_controller"/>
@@ -40,6 +41,7 @@
     <param name="reverse_port" type="int" value="$(arg reverse_port)"/>
     <param name="script_sender_port" type="int" value="$(arg script_sender_port)"/>
     <param name="trajectory_port" value="$(arg trajectory_port)"/>
+    <param name="script_command_port" value="$(arg script_command_port)"/>
     <rosparam command="load" file="$(arg kinematics_config)" />
     <param name="script_file" value="$(arg urscript_file)"/>
     <param name="output_recipe_file" value="$(arg rtde_output_recipe_file)"/>
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index 3491644e6..b4672ec47 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -31,7 +31,6 @@
 #include <ur_client_library/ur/tool_communication.h>
 #include <ur_client_library/exceptions.h>
 
-#include <ur_msgs/SetPayload.h>
 #include <trajectory_msgs/JointTrajectoryPoint.h>
 #include <trajectory_msgs/JointTrajectory.h>
 #include <control_msgs/FollowJointTrajectoryAction.h>
@@ -110,6 +109,9 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
   // Port that will be opened to send trajectory points from the driver to the robot
   int trajectory_port = robot_hw_nh.param("trajectory_port", 50003);
 
+  // Port that will be opened to forward script commands from the driver to the robot
+  int script_command_port = robot_hw_nh.param("script_command_port", 50004);
+
   // When the robot's URDF is being loaded with a prefix, we need to know it here, as well, in order
   // to publish correct frame names for frames reported by the robot directly.
   robot_hw_nh.param<std::string>("tf_prefix", tf_prefix_, "");
@@ -285,7 +287,7 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
         robot_ip_, script_filename, output_recipe_filename, input_recipe_filename,
         std::bind(&HardwareInterface::handleRobotProgramState, this, std::placeholders::_1), headless_mode,
         std::move(tool_comm_setup), (uint32_t)reverse_port, (uint32_t)script_sender_port, servoj_gain,
-        servoj_lookahead_time, non_blocking_read_, reverse_ip, trajectory_port));
+        servoj_lookahead_time, non_blocking_read_, reverse_ip, trajectory_port, script_command_port));
   }
   catch (urcl::ToolCommNotAvailable& e)
   {
@@ -440,26 +442,15 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
   // Calling this service will make the "External Control" program node on the UR-Program return.
   deactivate_srv_ = robot_hw_nh.advertiseService("hand_back_control", &HardwareInterface::stopControl, this);
 
-  // Calling this service will zero the robot's ftsensor. Note: On e-Series robots this will only
-  // work when the robot is in remote-control mode.
+  // Calling this service will zero the robot's ftsensor (only available for e-Series).
   tare_sensor_srv_ = robot_hw_nh.advertiseService("zero_ftsensor", &HardwareInterface::zeroFTSensor, this);
 
+  // Setup the mounted payload through a ROS service
+  set_payload_srv_ = robot_hw_nh.advertiseService("set_payload", &HardwareInterface::setPayload, this);
+
   ur_driver_->startRTDECommunication();
   ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_robot_driver hardware_interface");
 
-  // Setup the mounted payload through a ROS service
-  set_payload_srv_ = robot_hw_nh.advertiseService<ur_msgs::SetPayload::Request, ur_msgs::SetPayload::Response>(
-      "set_payload", [&](ur_msgs::SetPayload::Request& req, ur_msgs::SetPayload::Response& resp) {
-        std::stringstream cmd;
-        cmd.imbue(std::locale::classic());  // Make sure, decimal divider is actually '.'
-        cmd << "sec setup():" << std::endl
-            << " set_payload(" << req.mass << ", [" << req.center_of_gravity.x << ", " << req.center_of_gravity.y
-            << ", " << req.center_of_gravity.z << "])" << std::endl
-            << "end";
-        resp.success = this->ur_driver_->sendScript(cmd.str());
-        return true;
-      });
-
   return true;
 }
 
@@ -1095,6 +1086,10 @@ bool HardwareInterface::setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse
   {
     res.success = ur_driver_->getRTDEWriter().sendStandardAnalogOutput(req.pin, req.state);
   }
+  else if (req.fun == req.FUN_SET_TOOL_VOLTAGE && ur_driver_ != nullptr)
+  {
+    res.success = ur_driver_->setToolVoltage(static_cast<urcl::ToolVoltage>(req.state));
+  }
   else
   {
     ROS_ERROR("Cannot execute function %u. This is not (yet) supported.", req.fun);
@@ -1133,14 +1128,21 @@ bool HardwareInterface::zeroFTSensor(std_srvs::TriggerRequest& req, std_srvs::Tr
   }
   else
   {
-    res.success = this->ur_driver_->sendScript(R"(sec tareSensor():
-  zero_ftsensor()
-end
-)");
+    res.success = this->ur_driver_->zeroFTSensor();
   }
   return true;
 }
 
+bool HardwareInterface::setPayload(ur_msgs::SetPayloadRequest& req, ur_msgs::SetPayloadResponse& res)
+{
+  urcl::vector3d_t cog;
+  cog[0] = req.center_of_gravity.x;
+  cog[1] = req.center_of_gravity.y;
+  cog[2] = req.center_of_gravity.z;
+  res.success = this->ur_driver_->setPayload(req.mass, cog);
+  return true;
+}
+
 void HardwareInterface::commandCallback(const std_msgs::StringConstPtr& msg)
 {
   std::string str = msg->data;