diff --git a/ur_rtde_driver/include/ur_rtde_driver/exceptions.h b/ur_rtde_driver/include/ur_rtde_driver/exceptions.h
index 346e53f..2a2bdcd 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/exceptions.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/exceptions.h
@@ -55,6 +55,9 @@ private:
   /* data */
 };
 
+/*!
+ * \brief A specialized exception representing detection of a not supported UR control version.
+ */
 class VersionMismatch : public UrException
 {
 public:
@@ -83,6 +86,9 @@ private:
   std::string text_;
 };
 
+/*!
+ * \brief A specialized exception representing that communication to the tool is not possible.
+ */
 class ToolCommNotAvailable : public VersionMismatch
 {
 public: