diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllersWidget.cpp b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllersWidget.cpp
index bac1a685d1c1a868f31882d257559633920c0e5f..d0289b8aebee6d7f45a67b08747393d60ed30fe0 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllersWidget.cpp
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllersWidget.cpp
@@ -108,9 +108,9 @@ namespace armarx
 
     void NJointControllersWidget::onPushButtonStopAll_clicked()
     {
-        for (auto& pair : entries)
+        if(robotUnit)
         {
-            pair.second->deactivateController();
+            robotUnit->switchNJointControllerSetup({});
         }
     }