diff --git a/urdf/ur.ros2_control.xacro b/urdf/ur.ros2_control.xacro
index 4b72c9b3..f63047d0 100644
--- a/urdf/ur.ros2_control.xacro
+++ b/urdf/ur.ros2_control.xacro
@@ -167,6 +167,7 @@
 
           <command_interface name="standard_analog_output_cmd_0"/>
           <command_interface name="standard_analog_output_cmd_1"/>
+          <command_interface name="analog_output_domain_cmd"/>
 
           <command_interface name="tool_voltage_cmd"/>