diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
index a895019046916bfd13d613214c5c80adc20c4e2a..cedca2aeb2382fdd1106380ccf325463a18b01e0 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
@@ -514,6 +514,11 @@ namespace armarx
             additionalMap["haveActivatedControllersChanged"] = new TimedVariant {haveActivatedControllersChanged, lastControlThreadTimestamp};
             additionalMap["haveSensorAndControlValsChanged"] = new TimedVariant {haveSensorAndControlValsChanged, lastControlThreadTimestamp};
             additionalMap["publishToObserver"              ] = new TimedVariant {publishToObserver, lastControlThreadTimestamp};
+            additionalMap["SoftwareEmergencyStopState"     ] = new TimedVariant {_module<Units>().getEmergencyStopMaster()->getEmergencyStopState() == EmergencyStopState::eEmergencyStopActive ? "EmergencyStopActive" : "EmergencyStopInactive",
+                                                                                 lastControlThreadTimestamp
+                                                                                };
+
+
             //update
             if (haveSensorAndControlValsChanged)
             {