diff --git a/source/RobotAPI/components/units/BusInspectionUnit.cpp b/source/RobotAPI/components/units/BusInspectionUnit.cpp
index a54de39a542959978f0a70e80b76c713578186fa..476aca6410102f9b66b6f05ef243f5de703c4162 100644
--- a/source/RobotAPI/components/units/BusInspectionUnit.cpp
+++ b/source/RobotAPI/components/units/BusInspectionUnit.cpp
@@ -32,13 +32,12 @@ using namespace armarx;
 void BusInspectionUnit::onInitComponent()
 {
     this->onInitBusInspectionUnit();
-    offeringTopic("HardwareValues");
+    offeringTopic("HALCycleTimes");
 }
 
 void BusInspectionUnit::onConnectComponent()
 {
-    busInspectionValuePrx = getTopic<BusInspectionInterfacePrx>("HardwareValues");
-    ARMARX_INFO << "subscribing topic: " << "HardwareValues";
+    busInspectionListenerPrx = getTopic<BusInspectionListenerPrx>("HALCycleTimes");
 
     this->onConnectBusInspectionUnit();
 }
@@ -92,8 +91,7 @@ std::string BusInspectionUnit::sendCommand(const std::string& command,  Ice::Int
 
 PropertyDefinitionsPtr BusInspectionUnit::createPropertyDefinitions()
 {
-    return PropertyDefinitionsPtr(new BusInspectionUnitPropertyDefinitions(
-                                      getConfigIdentifier()));
+    return PropertyDefinitionsPtr(new BusInspectionUnitPropertyDefinitions(getConfigIdentifier()));
 }
 
 #endif
diff --git a/source/RobotAPI/components/units/BusInspectionUnit.h b/source/RobotAPI/components/units/BusInspectionUnit.h
index 98a3dcaa788c7df5198b24b99cb45aea39d561e8..60f6499fb65078a2f83bfe03f3d26767ffa60f5d 100644
--- a/source/RobotAPI/components/units/BusInspectionUnit.h
+++ b/source/RobotAPI/components/units/BusInspectionUnit.h
@@ -89,8 +89,7 @@ namespace armarx
 
     protected:
         std::string channel;
-        BusInspectionInterfacePrx busInspectionValuePrx; // gets commands from hardware
-
+        BusInspectionListenerPrx busInspectionListenerPrx;
     };
 }
 
diff --git a/source/RobotAPI/interface/hardware/BusInspectionInterface.ice b/source/RobotAPI/interface/hardware/BusInspectionInterface.ice
index 321d3dfd7647c7cab4a9de29110c82e5f380ea04..e479ca292ca75fba67dc2633402200e3c5188782 100644
--- a/source/RobotAPI/interface/hardware/BusInspectionInterface.ice
+++ b/source/RobotAPI/interface/hardware/BusInspectionInterface.ice
@@ -87,14 +87,19 @@ module armarx
         DeviceNames getDevicesOnBus(string bus) throws UnknownBusException;
         DeviceInformation getDeviceInformation(string device) throws UnknownDeviceException;
         int performDeviceOperation(BasicOperation operation, int device);
-	int performBusOperation(BasicOperation operation, string bus);
-	bool isInRealTimeMode();
+        int performBusOperation(BasicOperation operation, string bus);
+        bool isInRealTimeMode();
         string sendCommand(string command, int device) throws UnknownCommandException;	
     };
 
     interface BusInspectionListener
     {
-
+        /**
+         * Report statistics on the cycle times of the underlying hardware abstraction layer
+         *
+         * Times are given in µs.
+         */
+        void reportCycleTimeStatistics(int averageCycleTime, int minCycleTime, int maxCycleTime);
     };
 };