diff --git a/ur_rtde_driver/include/ur_rtde_driver/exceptions.h b/ur_rtde_driver/include/ur_rtde_driver/exceptions.h
index c73e5ff..96bc450 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/exceptions.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/exceptions.h
@@ -16,6 +16,7 @@
 #define UR_RTDE_DRIVER_EXCEPTIONS_H_INCLUDED
 
 #include <stdexcept>
+#include <sstream>
 
 namespace ur_driver
 {
@@ -40,5 +41,33 @@ public:
 private:
   /* data */
 };
+
+class VersionMismatch : public UrException
+{
+public:
+  explicit VersionMismatch() : VersionMismatch("", 0, 0)
+  {
+  }
+  explicit VersionMismatch(const std::string& text, const uint32_t version_req, const uint32_t version_actual)
+    : std::runtime_error(text)
+  {
+    version_required_ = version_req;
+    version_actual_ = version_actual;
+    std::stringstream ss;
+    ss << text << "(Required version: " << version_required_ << ", actual version: " << version_actual_ << ")";
+    text_ = ss.str();
+  }
+  virtual ~VersionMismatch() = default;
+
+  virtual const char* what() const noexcept override
+  {
+    return text_.c_str();
+  }
+
+private:
+  uint32_t version_required_;
+  uint32_t version_actual_;
+  std::string text_;
+};
 }  // namespace ur_driver
 #endif  // ifndef UR_RTDE_DRIVER_EXCEPTIONS_H_INCLUDED
diff --git a/ur_rtde_driver/src/ur/ur_driver.cpp b/ur_rtde_driver/src/ur/ur_driver.cpp
index 94e61bb..6f79155 100644
--- a/ur_rtde_driver/src/ur/ur_driver.cpp
+++ b/ur_rtde_driver/src/ur/ur_driver.cpp
@@ -82,9 +82,16 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc
   prog.replace(prog.find(SERVER_IP_REPLACE), SERVER_IP_REPLACE.length(), local_ip);
   prog.replace(prog.find(SERVER_PORT_REPLACE), SERVER_PORT_REPLACE.length(), std::to_string(reverse_port));
 
+  auto urcontrol_version = rtde_client_->getVersion();
+
   std::stringstream begin_replace;
   if (tool_comm_setup != nullptr)
   {
+    if (urcontrol_version.major < 5)
+    {
+      throw VersionMismatch("This robot version does not support using the tool communication interface.", 5,
+                            urcontrol_version.major);
+    }
     begin_replace << "set_tool_voltage("
                   << static_cast<std::underlying_type<ToolVoltage>::type>(tool_comm_setup->getToolVoltage()) << ")\n";
     begin_replace << "set_tool_communication("