diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
index c375e084dea6b48720d50e59cc9e828e070826ba..6bd72fd26162491f6128f3fddce78b7eced8c1f3 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
@@ -363,6 +363,7 @@ namespace armarx
         debugOutputData.getWriteBuffer().targetPose_qx = targetQuat.x;
         debugOutputData.getWriteBuffer().targetPose_qy = targetQuat.y;
         debugOutputData.getWriteBuffer().targetPose_qz = targetQuat.z;
+        debugOutputData.getWriteBuffer().currentCanVal = rtGetControlStruct().canVal;
 
         debugOutputData.getWriteBuffer().currentPose_x = currentPose(0, 3);
         debugOutputData.getWriteBuffer().currentPose_y = currentPose(1, 3);