diff --git a/ur_robot_driver/src/comm/tcp_socket.cpp b/ur_robot_driver/src/comm/tcp_socket.cpp
index a7c56fce3..b50e1c978 100644
--- a/ur_robot_driver/src/comm/tcp_socket.cpp
+++ b/ur_robot_driver/src/comm/tcp_socket.cpp
@@ -178,10 +178,14 @@ bool TCPSocket::read(uint8_t* buf, const size_t buf_len, size_t& read)
   if (res == 0)
   {
     state_ = SocketState::Disconnected;
+    LOG_ERROR("Received TCPSocket res=0");
     return false;
   }
   else if (res < 0)
+  {
+    LOG_ERROR("Received TCPSocket res=%d", res);
     return false;
+  }
 
   read = static_cast<size_t>(res);
   return true;
diff --git a/ur_robot_driver/src/ur/ur_driver.cpp b/ur_robot_driver/src/ur/ur_driver.cpp
index 216a0dd4c..36b30d3d5 100644
--- a/ur_robot_driver/src/ur/ur_driver.cpp
+++ b/ur_robot_driver/src/ur/ur_driver.cpp
@@ -218,6 +218,7 @@ void UrDriver::startWatchdog()
 
       if (keepalive == std::string(""))
       {
+        LOG_INFO("Received empty keepalive, marking reverse interface as inactive");
         reverse_interface_active_ = false;
       }
     }
@@ -229,7 +230,9 @@ void UrDriver::startWatchdog()
     // when trying to bind the socket.
     // TODO: It would probably make sense to keep the same instance alive for the complete runtime
     // instead of killing it all the time.
+    LOG_INFO("Destroying existing reverse interface connection");
     reverse_interface_->~ReverseInterface();
+    LOG_INFO("Creating new reverse interface connection");
     reverse_interface_.reset(new comm::ReverseInterface(reverse_port_));
     reverse_interface_active_ = true;
   }