diff --git a/urx/urrobot.py b/urx/urrobot.py
index 67ff400..c3e3281 100644
--- a/urx/urrobot.py
+++ b/urx/urrobot.py
@@ -397,7 +397,8 @@ class URRobot(object):
         if val:
             self.send_program("def myProg():\n\tfreedrive_mode()\n\tsleep({})\nend".format(timeout))
         else:
-            self.send_program("set robotmode run")
+            # This is a non-existant program, but running it will stop freedrive
+            self.send_program("def myProg():\n\end_freedrive_mode()\nend")
 
     def set_simulation(self, val):
         if val: