diff --git a/VirtualRobot/XML/BaseIO.cpp b/VirtualRobot/XML/BaseIO.cpp
index 92da80696ff66c26cb8ad0e5447c2b77c37989a7..07f09e22fe3b2e1717c800b9fa0f1788b31f027f 100644
--- a/VirtualRobot/XML/BaseIO.cpp
+++ b/VirtualRobot/XML/BaseIO.cpp
@@ -1655,6 +1655,11 @@ namespace VirtualRobot
 
         if (!rootNodeName.empty())
         {
+            if (!robo->hasRobotNode(rootNodeName))
+            {
+                VR_WARNING << "In robot node set '" << nodeSetName
+                           << "': No root node '" << rootNodeName << "' found";
+            }
             kinRoot = robo->getRobotNode(rootNodeName);
         }
 
@@ -1662,6 +1667,11 @@ namespace VirtualRobot
 
         if (!tcpName.empty())
         {
+            if (!robo->hasRobotNode(tcpName))
+            {
+                VR_WARNING << "In robot node set '" << nodeSetName
+                           << "': No root node '" << tcpName << "' found";
+            }
             tcp = robo->getRobotNode(tcpName);
         }