diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.cpp b/source/RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.cpp
index a0fd892e9a748e84e6af30841e6eb22f7a36b542..6cb44a0a8fe002de49ca26a26488972c3aad5299 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.cpp
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.cpp
@@ -148,3 +148,11 @@ void PositionControllerHelper::setNullSpaceControl(bool enabled)
 {
     velocityControllerHelper->setNullSpaceControl(enabled);
 }
+
+std::string PositionControllerHelper::getStatusText()
+{
+    std::stringstream ss;
+    ss.precision(2);
+    ss << std::fixed << "Waypoint: " << (currentWaypointIndex + 1) << "/" << waypoints.size() << " distance: " << getPositionError() << " mm " << VirtualRobot::MathTools::rad2deg(getOrientationError()) << " deg";
+    return ss.str();
+}
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.h b/source/RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.h
index b1ccef061e7bd34e0bc6f9eaa7809b79783da32f..24df9457501f4cb56cb42c7975471cae47fed5e6 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.h
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.h
@@ -70,6 +70,8 @@ namespace armarx
 
         void setNullSpaceControl(bool enabled);
 
+        std::string getStatusText();
+
         CartesianPositionController posController;
         VelocityControllerHelperPtr velocityControllerHelper;