diff --git a/ur_msgs/msg/MasterboardDataMsg.msg b/ur_msgs/msg/MasterboardDataMsg.msg
index 629535b69afc4426984f63f8586515ccb420f1cf..8ccdd6202e4dcd42c51d5efd5e45823961062736 100644
--- a/ur_msgs/msg/MasterboardDataMsg.msg
+++ b/ur_msgs/msg/MasterboardDataMsg.msg
@@ -1,3 +1,14 @@
+# This data structure contains the MasterboardData structure
+# used by the Universal Robots controller
+#
+# MasterboardData is part of the data structure being send on the 
+# secondary client communications interface
+# 
+# This data structure is send at 10 Hz on TCP port 30002
+# 
+# Dokumentation can be found on the Universal Robots Support Wiki
+# (http://wiki03.lynero.net/Technical/DataStreamFromURController?rev=8)
+
 int16 digital_input_bits
 int16 digital_output_bits
 int8 analog_input_range0
diff --git a/ur_msgs/msg/RobotStateRTMsg.msg b/ur_msgs/msg/RobotStateRTMsg.msg
index cf5f9f6347ac7f85f235179b0030ba79c0159b2a..2741463973e0c1ed1d052f885e274fb912efc860 100644
--- a/ur_msgs/msg/RobotStateRTMsg.msg
+++ b/ur_msgs/msg/RobotStateRTMsg.msg
@@ -1,3 +1,11 @@
+# Data structure for the realtime communications interface (aka Matlab interface)
+# used by the Universal Robots controller
+# 
+# This data structure is send at 125 Hz on TCP port 30003
+# 
+# Dokumentation can be found on the Universal Robots Support Wiki
+# (http://wiki03.lynero.net/Technical/RealTimeClientInterface?rev=9)
+
 float64 time
 float64[] q_target
 float64[] qd_target