diff -urN KNI_3.9.2.patched/src/Base/cdlSocket.cpp KNI_3.9.2.noexit/src/Base/cdlSocket.cpp
--- KNI_3.9.2.patched/src/Base/cdlSocket.cpp	2008-12-01 13:12:13.000000000 +0100
+++ KNI_3.9.2.noexit/src/Base/cdlSocket.cpp	2008-12-01 13:16:07.000000000 +0100
@@ -23,6 +23,7 @@
 #include <iostream>
 #include <cstring>
 #include <cstdlib>
+#include <stdexcept>
 
 /****************************************************************************/
 //test write:
@@ -95,7 +96,7 @@
 	_socketfd = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP);
 	if(_socketfd == -1){
 		std::cout << "socket could not be created"<<_ipAddr<<" port: "<< _port<<" \n";
-		exit(1);
+		throw std::runtime_error("socket could not be created");
 	}
 	memset(&_socketAddr, 0, sizeof(_socketAddr));  
 	_socketAddr.sin_family = AF_INET;
@@ -106,13 +107,13 @@
 	res = inet_pton ( AF_INET, _ipAddr, &_socketAddr.sin_addr );
 	if ( errno == EAFNOSUPPORT ){
 		std::cout << "inet_pton failed, try again "<<_ipAddr<<" port: "<< _port<<" \n";
-		exit(1);
+		throw std::runtime_error("inet_pton failed (EAFNOSUPPORT)");
 	}
 //	std::cout << "trying to connect to server...\n";
 	res = connect(_socketfd, (struct sockaddr *) &_socketAddr, _len);
 	if(res != 0){
 		std::cout << "client could not connect, check if server is running on ip "<<_ipAddr<<" port: "<< _port<<" \n";
-		exit(1);
+		throw std::runtime_error("client could not connect, check if server is running");
 	}
 	else{
 //		std::cout << "client connected to ip "<<_ipAddr<<", port: "<< _port<<" \n";
diff -urN KNI_3.9.2.patched/src/Base/kmlExt.cpp KNI_3.9.2.noexit/src/Base/kmlExt.cpp
--- KNI_3.9.2.patched/src/Base/kmlExt.cpp	2007-09-28 07:38:10.000000000 +0200
+++ KNI_3.9.2.noexit/src/Base/kmlExt.cpp	2008-12-01 13:16:58.000000000 +0100
@@ -28,6 +28,7 @@
 #include <iostream>
 #include <algorithm>
 #include <vector>
+#include <stdexcept>
 
 #define max(a,b) (((a)>(b))?(a):(b))
 KNI::Timer kni_timer;
@@ -145,7 +146,8 @@
 		std::cout << "Exit: Incompatible Config File!\n";
 		std::cout << "Check whether you have a Katana 400 or 300 and choose the config file accordingly\n";
 		std::cout << "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n\n.";
-		exit(0);
+		throw std::runtime_error("Exit: Incompatible Config File! "
+					 "Check whether you have a Katana 400 or 300 and choose the config file accordingly");
 	}
 	bool gripperIsPresent;
 	int gripperOpenEncoders, gripperCloseEncoders;