diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnit.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnit.cpp
index 5679160c7e1e8035e2bc0804ae5c86a95d008a5e..82be0d0113e8f36adfe377ddcf49b79a9cf38c06 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnit.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnit.cpp
@@ -1070,13 +1070,16 @@ namespace armarx
                     auto start = MicroNow();
                     nJointCtrl->rtSwapBufferAndRun(sensorValuesTimestamp, timeSinceLastIteration);
                     auto duration = MicroNow() - start;
-                    if (duration.count() > 500)
+                    if (checkControllerExecutionTimings)
                     {
-                        ARMARX_ERROR << deactivateSpam(5) << "The NJointController " << nJointCtrl->getClassName() << " took " << duration.count() << " µs to run!";
-                    }
-                    else if (duration.count() > 50)
-                    {
-                        ARMARX_RT_LOGF_WARN("An NJointController took %d µs to run!", duration.count()).deactivateSpam(5);
+                        if (duration.count() > 500)
+                        {
+                            ARMARX_ERROR << deactivateSpam(5) << "The NJointController " << nJointCtrl->getClassName() << " took " << duration.count() << " µs to run!";
+                        }
+                        else if (duration.count() > 50)
+                        {
+                            ARMARX_RT_LOGF_WARN("The NJointController with ID %d took %d µs to run!", nJointCtrl->getId(), duration.count()).deactivateSpam(5);
+                        }
                     }
                 }
             }
@@ -2860,6 +2863,8 @@ namespace armarx
             ObserverPublishSensorValues = getProperty<bool>("ObserverPublishSensorValues").getValue();
             ObserverPublishControlTargets = getProperty<bool>("ObserverPublishControlTargets").getValue();
 
+            checkControllerExecutionTimings = getProperty<bool>("CheckControllerExecutionTimings");
+
             //load robot
             {
                 robotNodeSetName            = getProperty<std::string>("RobotNodeSetName").getValue();
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnit.h b/source/RobotAPI/components/units/RobotUnit/RobotUnit.h
index 006fcf0cdf65580fab63759bd811faafd138a8f6..12069b65cba0520a9c154d2f5773ea44f2771ccc 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnit.h
@@ -240,6 +240,14 @@ namespace armarx
             defineOptionalProperty<std::string>(
                 "TrajectoryControllerUnitName", "TrajectoryPlayer",
                 "Name of the TrajectoryControllerUnit. The respective component outside of the RobotUnit is TrajectoryPlayer");
+
+            // ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// //
+            // ////////////////////////////////////////////////////// Misc. Properties ///////////////////////////////////////////////////////////// //
+            // ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// //
+
+            defineOptionalProperty<bool>(
+                "CheckControllerExecutionTimings", false,
+                "Check controller execution timings and print a warning if execution takes long.");
         }
     };
 
@@ -593,6 +601,7 @@ namespace armarx
         // //////////////////////////////////////////////////////////////////////////////////////////////////////////////////// //
         // util
         // //////////////////////////////////////////////////////////////////////////////////////////////////////////////////// //
+        bool checkControllerExecutionTimings = false;
     protected:
         template<class ExceptT = LogicError>
         inline void throwIfStateIsNot(const std::set<RobotUnitState>& sinit, const std::string& fnc, bool onlyWarn = false) const;