diff --git a/ur_controllers/doc/index.rst b/ur_controllers/doc/index.rst
index 0e192a98d..09db1d138 100644
--- a/ur_controllers/doc/index.rst
+++ b/ur_controllers/doc/index.rst
@@ -104,6 +104,11 @@ the fraction determined by the current speed scaling. If speed scaling is curren
 interpolation of the current control cycle will start half a time step after the beginning of the
 previous control cycle.
 
+Using velocity as command interface
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+The controller is able to use velocity as the sole command interface, and gains for that control mode have been specified, that work with all e-series robots.
+The UR8 Long, UR15, UR20 and UR30 robot models, however, do not support this control mode.
+
 .. _io_and_status_controller:
 
 ur_controllers/GPIOController
diff --git a/ur_robot_driver/config/ur_controllers.yaml b/ur_robot_driver/config/ur_controllers.yaml
index 858f4610a..dc3862cba 100644
--- a/ur_robot_driver/config/ur_controllers.yaml
+++ b/ur_robot_driver/config/ur_controllers.yaml
@@ -137,6 +137,14 @@ scaled_joint_trajectory_controller:
       $(var tf_prefix)wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
       $(var tf_prefix)wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
     speed_scaling_interface_name: $(var tf_prefix)speed_scaling/speed_scaling_factor
+    gains:
+      # These values will work for all e-series robots, but will not work for UR15/20/30
+      $(var tf_prefix)shoulder_pan_joint:  {p: 5.0,  i: 0.3, d: 0.01, ff_velocity_scale: 1.0, i_clamp: 1.0, antiwindup_strategy: conditional_integration}
+      $(var tf_prefix)shoulder_lift_joint: {p: 5.0,  i: 0.3, d: 0.01, ff_velocity_scale: 1.0, i_clamp: 1.0, antiwindup_strategy: conditional_integration}
+      $(var tf_prefix)elbow_joint:         {p: 5.0,  i: 0.3, d: 0.01, ff_velocity_scale: 1.0, i_clamp: 1.0, antiwindup_strategy: conditional_integration}
+      $(var tf_prefix)wrist_1_joint:       {p: 5.0,  i: 0.3, d: 0.01, ff_velocity_scale: 1.0, i_clamp: 1.0, antiwindup_strategy: conditional_integration}
+      $(var tf_prefix)wrist_2_joint:       {p: 5.0,  i: 0.3, d: 0.01, ff_velocity_scale: 1.0, i_clamp: 1.0, antiwindup_strategy: conditional_integration}
+      $(var tf_prefix)wrist_3_joint:       {p: 5.0,  i: 0.3, d: 0.01, ff_velocity_scale: 1.0, i_clamp: 1.0, antiwindup_strategy: conditional_integration}
 
 passthrough_trajectory_controller:
   ros__parameters: