diff --git a/ur_msgs/CMakeLists.txt b/ur_msgs/CMakeLists.txt
index 1b3457363..84f715b46 100644
--- a/ur_msgs/CMakeLists.txt
+++ b/ur_msgs/CMakeLists.txt
@@ -23,6 +23,7 @@ add_message_files(
 add_service_files(
    FILES
    SetPayload.srv
+   SetSpeedSliderFraction.srv
    SetIO.srv
 )
 
diff --git a/ur_msgs/srv/SetSpeedSliderFraction.srv b/ur_msgs/srv/SetSpeedSliderFraction.srv
new file mode 100644
index 000000000..263a37597
--- /dev/null
+++ b/ur_msgs/srv/SetSpeedSliderFraction.srv
@@ -0,0 +1,8 @@
+# Set the speed slider on the teach pendant to the specified value.
+#
+# Values for 'speed_slider_fraction' must be from [0; 1.0]; values outside this
+# valid range will result in an error being returned to the caller.
+
+float64 speed_slider_fraction
+---
+bool success