diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index f14c119892..5624c3dd5f 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -17,6 +17,7 @@ class CarController:
     self.packer_pt = CANPacker(dbc_name)
 
     self.apply_steer_last = 0
+    self.gra_acc_counter_last = None
     self.frame = 0
     self.hcaSameTorqueCount = 0
     self.hcaEnabledFrameCount = 0
@@ -91,15 +92,15 @@ class CarController:
 
     # **** Stock ACC Button Controls **************************************** #
 
-    if self.CP.pcmCruise and self.frame % self.CCP.GRA_ACC_STEP == 0:
-      idx = (CS.gra_stock_values["COUNTER"] + 1) % 16
-      if CC.cruiseControl.cancel:
-        can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, cancel=True))
-      elif CC.cruiseControl.resume:
-        can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, resume=True))
+    gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last
+    if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
+      counter = (CS.gra_stock_values["COUNTER"] + 1) % 16
+      can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, counter,
+                                                           cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
 
+    self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
     self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py
index 1a4ca339ab..3819f4f76f 100644
--- a/selfdrive/car/volkswagen/mqbcan.py
+++ b/selfdrive/car/volkswagen/mqbcan.py
@@ -26,11 +26,11 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres
   return packer.make_can_msg("LDW_02", bus, values)
 
 
-def create_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False):
+def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=False, resume=False):
   values = gra_stock_values.copy()
 
   values.update({
-    "COUNTER": idx,
+    "COUNTER": counter,
     "GRA_Abbrechen": cancel,
     "GRA_Tip_Wiederaufnahme": resume,
   })
diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
index 1e7ed21342..e64bb2246e 100644
--- a/selfdrive/car/volkswagen/pqcan.py
+++ b/selfdrive/car/volkswagen/pqcan.py
@@ -23,11 +23,11 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres
   return packer.make_can_msg("LDW_Status", bus, values)
 
 
-def create_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False):
+def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=False, resume=False):
   values = gra_stock_values.copy()
 
   values.update({
-    "COUNTER": idx,
+    "COUNTER": counter,
     "GRA_Abbrechen": cancel,
     "GRA_Recall": resume,
   })
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index eaf6c042de..05994c0100 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -19,7 +19,6 @@ Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 
 class CarControllerParams:
   HCA_STEP = 2                            # HCA_01/HCA_1 message frequency 50Hz
-  GRA_ACC_STEP = 3                        # GRA_ACC_01/GRA_Neu message frequency 33Hz
   ACC_CONTROL_STEP = 2                    # ACC_06/ACC_07/ACC_System frequency 50Hz
   ACC_HUD_STEP = 4                        # ACC_GRA_Anziege frequency 25Hz