diff --git a/ur_msgs/CMakeLists.txt b/ur_msgs/CMakeLists.txt
index 6a325ceb5f6260b9480baf9d0ad74f84dd9b8589..cf1ab9d8720c8e0c5a9127249dbc9f8e6a83ce39 100644
--- a/ur_msgs/CMakeLists.txt
+++ b/ur_msgs/CMakeLists.txt
@@ -14,6 +14,7 @@ find_package(catkin REQUIRED COMPONENTS message_generation std_msgs)
    Digital.msg
    IOStates.msg
    RobotStateRTMsg.msg
+   MasterboardDataMsg.msg
  )
 
 ## Generate services in the 'srv' folder
diff --git a/ur_msgs/msg/MasterboardDataMsg.msg b/ur_msgs/msg/MasterboardDataMsg.msg
new file mode 100644
index 0000000000000000000000000000000000000000..629535b69afc4426984f63f8586515ccb420f1cf
--- /dev/null
+++ b/ur_msgs/msg/MasterboardDataMsg.msg
@@ -0,0 +1,16 @@
+int16 digital_input_bits
+int16 digital_output_bits
+int8 analog_input_range0
+int8 analog_input_range1
+float64 analog_input0
+float64 analog_input1
+int8 analog_output_domain0
+int8 analog_output_domain1
+float64 analog_output0
+float64 analog_output1
+float32 masterboard_temperature
+float32 robot_voltage_48V
+float32 robot_current
+float32 master_io_current
+uint8 master_safety_state
+uint8 master_onoff_state