diff --git a/urdf/ur.ros2_control.xacro b/urdf/ur.ros2_control.xacro
index f34a3c9..e37b5f8 100644
--- a/urdf/ur.ros2_control.xacro
+++ b/urdf/ur.ros2_control.xacro
@@ -177,6 +177,7 @@
 
           <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"/>