diff --git a/doc/CHANGELOG.md b/doc/CHANGELOG.md
index 775b8e7..53751cc 100644
--- a/doc/CHANGELOG.md
+++ b/doc/CHANGELOG.md
@@ -13,6 +13,12 @@ influence the resulting point cloud.
 
 ### Removed
 
+## [2.19.3] - 2021.04.13
+
+### Changed
+* Doc: Improve example descriptions
+* Use only major and minor version for compatibility warning
+
 ## [2.19.2] - 2021.03.25
 
 ### Changed
diff --git a/examples/cpp/ssl/README.md b/examples/cpp/ssl/README.md
index 814661a..838a759 100644
--- a/examples/cpp/ssl/README.md
+++ b/examples/cpp/ssl/README.md
@@ -1,6 +1,6 @@
 # SSL connection
 
-This example shows how to connect to a device with a ssl certification.
+This example shows how to connect to a device with SSL certification.
 
 ```.. literalinclude:: main.cpp
     :language: cpp
diff --git a/examples/python/custom_trigger/README.md b/examples/python/custom_trigger/README.md
index 4d4c2a3..e717036 100644
--- a/examples/python/custom_trigger/README.md
+++ b/examples/python/custom_trigger/README.md
@@ -1,6 +1,6 @@
 # Custom Trigger
 
-Configure custom triggers and retrieve a point cloud with these settings.
+Configure custom triggers and retrieve a point cloud for the trigger set.
 
 This example will stop after 10 received frames.
 
diff --git a/examples/python/custom_trigger/custom_trigger.py b/examples/python/custom_trigger/custom_trigger.py
index d41e5ec..3af7c92 100644
--- a/examples/python/custom_trigger/custom_trigger.py
+++ b/examples/python/custom_trigger/custom_trigger.py
@@ -13,7 +13,7 @@
 from blickfeld_scanner.protocol.config import scan_pattern_pb2
 
 def custom_trigger(target, horizontal_angle):
-    """Configure custom triggers and retrieve a point cloud with these settings
+    """Configure custom triggers and retrieve a point cloud for the trigger set.
 
     This example will stop after 10 received frames.
 
diff --git a/include/blickfeld/utils.h b/include/blickfeld/utils.h
index b44a939..5221127 100644
--- a/include/blickfeld/utils.h
+++ b/include/blickfeld/utils.h
@@ -55,6 +55,8 @@
 #define _USE_MATH_DEFINES
 #include <cmath>
 
+#include <tuple>
+
 namespace blickfeld {
 
 namespace os {
@@ -80,6 +82,8 @@ int get_scanline_id_by_point_id(const Frame& frame, const uint32_t point_id);
 } // namespace data
 } // namespace protocol
 
+const std::tuple<int, int, int> parse_version(const std::string version_str);
+
 }
 
 #endif // BLICKFELD_UTILS_H
diff --git a/python/blickfeld_scanner/scanner.py b/python/blickfeld_scanner/scanner.py
index b42abe9..4ecd86a 100644
--- a/python/blickfeld_scanner/scanner.py
+++ b/python/blickfeld_scanner/scanner.py
@@ -70,8 +70,18 @@ def __init__(self, hostname_or_ip="localhost", port=None, name=None, key_and_cer
         self._connection = self.create_connection()
         
         self._hello = self.hello()
+        # Compare library version of server and client
         if __version__ != self._hello.library_version:
-            warnings.warn("Warning: The client BSL version does not match the server BSL version. Client has '%s', server has '%s'." % (__version__, self._hello.library_version), DeprecationWarning, stacklevel=2)
+            def parse_version(version_str):
+                return [int(x) for x in version_str.split(".")]
+            
+            local_version = None
+            if self._hello.library_version and __version__:
+                local_version = [int(x) if x.isdecimal() else None for x in __version__.split(".")]
+                server_version = [int(x) if x.isdecimal() else None for x in self._hello.library_version.split(".")]
+            # Only warn if major or minor version does not match
+            if local_version is None or len(local_version) < 3 or len(server_version) < 3 or local_version[0] != server_version[0] or local_version[1] != server_version[1]:
+                warnings.warn("Warning: The client BSL version does not match the server BSL version. Client has '%s', server has '%s'." % (__version__, self._hello.library_version), DeprecationWarning, stacklevel=2)
 
     def __del__(self):
         if hasattr(self, "_connection"):
diff --git a/src/scanner.cpp b/src/scanner.cpp
index cdb6940..221a9f3 100644
--- a/src/scanner.cpp
+++ b/src/scanner.cpp
@@ -172,10 +172,18 @@ scanner::scanner(std::string hostname_or_ip, std::string cert_key_file) :
 
 	protocol::Response::Hello _hello;
 	__hello(&_hello);
-	if (std::string(BSL_VERSION) != _hello.library_version())
-		log_warning("Warning: The client BSL version does not match the server BSL version. Client has '%s', server has '%s'.\n",
-			    BSL_VERSION,
-			    _hello.library_version().c_str());
+
+	// Compare library version of server and client
+	if (std::string(BSL_VERSION) != _hello.library_version()) {
+		auto local_version = parse_version(std::string(BSL_VERSION));
+		auto server_version = parse_version(_hello.library_version());
+
+		// Only warn if major or minor version does not match
+		if (std::get<0>(local_version) != std::get<0>(server_version) || std::get<1>(local_version) != std::get<1>(server_version))
+			log_warning("Warning: The client BSL version does not match the server BSL version. Client has '%s', server has '%s'.\n",
+				    BSL_VERSION,
+				    _hello.library_version().c_str());
+	}
 }
 
 scanner::~scanner() {
diff --git a/src/utils.cpp b/src/utils.cpp
index 9cd8ae8..ec5e13b 100644
--- a/src/utils.cpp
+++ b/src/utils.cpp
@@ -141,4 +141,10 @@ int get_scanline_id_by_point_id(const Frame& frame, const uint32_t point_id) {
 } // namespace data
 } // namespace protocol
 
+const std::tuple<int, int, int> parse_version(const std::string version_str) {
+	int major = -1, minor = -1, patch = -1;
+	sscanf(version_str.c_str(), "%d.%d.%d", &major, &minor, &patch);
+	return std::make_tuple(major, minor, patch);
+}
+
 } // namespace blickfeld