diff --git a/ur_robot_driver/doc/ROS_INTERFACE.md b/ur_robot_driver/doc/ROS_INTERFACE.md
index 696cbb2ba..02847cf23 100644
--- a/ur_robot_driver/doc/ROS_INTERFACE.md
+++ b/ur_robot_driver/doc/ROS_INTERFACE.md
@@ -760,6 +760,10 @@ Setup the mounted payload through a ROS service
 
 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.
 
+##### reset_revolution_counter ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html))
+
+Calling this service will reset the revolution counter for the robot's wrist_3_link. Note: On e-Series robots this will only work when the robot is in remote-control mode.
+
 #### Parameters
 
 ##### dashboard/receive_timeout (Required)
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 aff9e09d7..b6b60e4da 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.h
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.h
@@ -200,6 +200,7 @@ class HardwareInterface : public hardware_interface::RobotHW
   bool setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse& res);
   bool resendRobotProgram(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res);
   bool zeroFTSensor(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res);
+  bool resetRevolutionCounter(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res);
   void commandCallback(const std_msgs::StringConstPtr& msg);
 
   std::unique_ptr<urcl::UrDriver> ur_driver_;
@@ -215,6 +216,7 @@ class HardwareInterface : public hardware_interface::RobotHW
 
   ros::ServiceServer deactivate_srv_;
   ros::ServiceServer tare_sensor_srv_;
+  ros::ServiceServer reset_revolution_counter_srv_;
   ros::ServiceServer set_payload_srv_;
 
   hardware_interface::JointStateInterface js_interface_;
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index 7ad32c88e..69b25bcb0 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -33,6 +33,8 @@
 
 #include <Eigen/Geometry>
 
+#include <mutex>
+
 using industrial_robot_status_interface::RobotMode;
 using industrial_robot_status_interface::TriState;
 // using namespace urcl::rtde_interface;
@@ -384,6 +386,11 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
   // work when the robot is in remote-control mode.
   tare_sensor_srv_ = robot_hw_nh.advertiseService("zero_ftsensor", &HardwareInterface::zeroFTSensor, this);
 
+  // Calling this service will reset the revolution counter for the robot's wrist_3_link. Note: On e-Series robots this
+  // will only work when the robot is in remote-control mode.
+  reset_revolution_counter_srv_ =
+      robot_hw_nh.advertiseService("reset_revolution_counter", &HardwareInterface::resetRevolutionCounter, this);
+
   ur_driver_->startRTDECommunication();
   ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_robot_driver hardware_interface");
 
@@ -912,6 +919,21 @@ end
   return true;
 }
 
+bool HardwareInterface::resetRevolutionCounter(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res)
+{
+  std::mutex mtx;
+  mtx.lock();
+  handleRobotProgramState(false);
+  res.success = this->ur_driver_->sendScript(R"(sec resetRevolutionCounter():
+  reset_revolution_counter()
+end
+)");
+  ros::Duration(0.1).sleep();  // wait for the reset to be done
+  handleRobotProgramState(true);
+  mtx.unlock();
+  return true;
+}
+
 void HardwareInterface::commandCallback(const std_msgs::StringConstPtr& msg)
 {
   std::string str = msg->data;