diff --git a/ur_driver/src/ur_driver/driver.py b/ur_driver/src/ur_driver/driver.py
index 0245191366a40d9178f01216d135c28d896949ed..aa5c440eaa8f56cf467294f34a45c51987f5b9a5 100755
--- a/ur_driver/src/ur_driver/driver.py
+++ b/ur_driver/src/ur_driver/driver.py
@@ -459,7 +459,7 @@ class CommanderTCPHandler(SocketServer.BaseRequestHandler):
 
                 if not buf:
                     buf = buf + self.recv_more()
-        except EOF, ex:
+        except EOF as ex:
             print("Connection closed (command):", ex)
             setConnectedRobot(None)
 
@@ -964,7 +964,7 @@ def main():
                     prevent_programming = rospy.get_param("~prevent_programming")
                     update = {'prevent_programming': prevent_programming}
                     reconfigure_srv.update_configuration(update)
-                except KeyError, ex:
+                except KeyError as ex:
                     print("Parameter 'prevent_programming' not set. Value: " + str(prevent_programming))
                     pass
                 if prevent_programming:
@@ -985,7 +985,7 @@ def main():
                         prevent_programming = rospy.get_param("~prevent_programming")
                         update = {'prevent_programming': prevent_programming}
                         reconfigure_srv.update_configuration(update)
-                    except KeyError, ex:
+                    except KeyError as ex:
                         print("Parameter 'prevent_programming' not set. Value: " + str(prevent_programming))
                         pass
                     connection.send_program()
diff --git a/ur_driver/src/ur_driver/io_interface.py b/ur_driver/src/ur_driver/io_interface.py
index e78c0b4236aae3c773debffabf4db4ce96e2eb4c..882a7ce7afa3454324563e312b054d11abb2ba4f 100644
--- a/ur_driver/src/ur_driver/io_interface.py
+++ b/ur_driver/src/ur_driver/io_interface.py
@@ -21,25 +21,25 @@ ANALOG_TOLERANCE_VALUE = 0.01
 def set_io_val(fun, pin, val):
     try:
         set_io(fun, pin, val)
-    except rospy.ServiceException, e:
+    except rospy.ServiceException as e:
         print "Service call failed: %s"%e
 
 def set_tool_voltage(volts):
     try:
         set_io(FUN_SET_TOOL_VOLTAGE, volts, 0)
-    except rospy.ServiceException, e:
+    except rospy.ServiceException as e:
         print "Service call failed: %s"%e
 
 def set_digital_out(pin, val):
     try:
         set_io(FUN_SET_DIGITAL_OUT, pin, val)
-    except rospy.ServiceException, e:
+    except rospy.ServiceException as e:
         print "Service call failed: %s"%e
 
 def set_analog_out(pin, val):
     try:
         set_io(FUN_SET_ANALOG_OUT, pin, val)
-    except rospy.ServiceException, e:
+    except rospy.ServiceException as e:
         print "Service call failed: %s"%e
 
 def set_flag(pin, val):