diff --git a/source/RobotAPI/libraries/RobotRTControllers/LVL0Controller.h b/source/RobotAPI/libraries/RobotRTControllers/LVL0Controller.h
index e274807021dd46feff573f3d1e200fce0c351b1e..51e0bbee1da746ea7826befef946fb470d62b5d3 100644
--- a/source/RobotAPI/libraries/RobotRTControllers/LVL0Controller.h
+++ b/source/RobotAPI/libraries/RobotRTControllers/LVL0Controller.h
@@ -30,7 +30,7 @@ namespace armarx
     class LVL0ControllerBase
     {
     public:
-        virtual void run() = 0;
+        virtual void run(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) = 0;
         virtual JointTargetBase* getTarget() const = 0;
 
 
diff --git a/source/RobotAPI/libraries/RobotRTControllers/RobotUnit.cpp b/source/RobotAPI/libraries/RobotRTControllers/RobotUnit.cpp
index 4c5115cbd2b2340e74e3970b74a8d04c64c50797..4c0c6188046a6d502affef48993f09bd396740f7 100644
--- a/source/RobotAPI/libraries/RobotRTControllers/RobotUnit.cpp
+++ b/source/RobotAPI/libraries/RobotRTControllers/RobotUnit.cpp
@@ -576,11 +576,11 @@ void armarx::RobotUnit::rtDeactivateAssignedLVL1Controller(std::size_t index)
     }
 }
 
-void armarx::RobotUnit::rtRunLVL0Controllers()
+void armarx::RobotUnit::rtRunLVL0Controllers(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration)
 {
     for (LVL0ControllerBase * lvl0 : rtGetActivatedLVL0Controllers())
     {
-        lvl0->run();
+        lvl0->run(sensorValuesTimestamp, timeSinceLastIteration);
     }
 }
 
diff --git a/source/RobotAPI/libraries/RobotRTControllers/RobotUnit.h b/source/RobotAPI/libraries/RobotRTControllers/RobotUnit.h
index a91b3d6902a1a8aeb92df72a0499f843f44543a3..bf0b29c1c3286679e8e57e84723dcd03ddc93f3e 100644
--- a/source/RobotAPI/libraries/RobotRTControllers/RobotUnit.h
+++ b/source/RobotAPI/libraries/RobotRTControllers/RobotUnit.h
@@ -387,7 +387,7 @@ namespace armarx
         bool rtSwitchSetup();
         void rtRunLVL1Controllers(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration);
         void rtDeactivateAssignedLVL1Controller(std::size_t index);
-        void rtRunLVL0Controllers();
+        void rtRunLVL0Controllers(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration);
 
         /**
          * @brief Hook for switching the lvl0 controller (this changes the controll mode)