diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
index e00b0daae9411a41efd4c9a4f8486e1e8ecb4329..e881d6bfdf21aeddf2169e9844dbd4ededde1bf5 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
@@ -419,7 +419,14 @@ namespace armarx
                 << rtGetControlDevices().at(ctrlDevIndex)->getDeviceName()
                 << ", ControlMode = " << rtGetActivatedJointControllers().at(ctrlDevIndex)->getControlMode() << ")!" << "\n"
                 << VAROUT(ctrlDevIndex) << "\n"
-                << VAROUT(rtGetActivatedJointControllers()) << "\n"
+                << ARMARX_STREAM_PRINTER
+                {
+                    for (std::size_t i = 0; i < rtGetActivatedJointControllers().size(); ++i)
+                    {
+                        const JointController* jctrl = rtGetActivatedJointControllers().at(i);
+                        out << "    " << i << "\t" << jctrl << " " << jctrl->getControlMode() << "\n";
+                    }
+                }
                 << VAROUT(rtGetActivatedNJointControllers()) << "\n"
                 << VAROUT(rtGetActivatedJointToNJointControllerAssignement())
             );
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp
index 0a33e1a88c002d29248b3b9e3b7d2a1f383d9087..65efa415f3a5afce1813a1653f35494229ae3a83 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp
@@ -293,9 +293,19 @@ namespace armarx
                     }
                 }
             }
-            writeRequestedControllers(std::move(request));
             ARMARX_DEBUG << "wrote requested controllers";
-            ARMARX_INFO << "requested controllers:\n" << _module<ControllerManagement>().getRequestedNJointControllerNames();
+            ARMARX_INFO << "requested controllers:\n" << ARMARX_STREAM_PRINTER
+            {
+                for (std::size_t i = 0; i < request.nJointControllers.size(); ++i)
+                {
+                    const auto& ctrl = request.nJointControllers.at(i);
+                    if (ctrl)
+                    {
+                        out << i << "\t'" << ctrl->getInstanceName() << "' \t of class '" << ctrl->getClassName() << "'";
+                    }
+                }
+            };
+            writeRequestedControllers(std::move(request));
         }
 
         void ControlThreadDataBuffer::updateVirtualRobot(const VirtualRobot::RobotPtr& robot, const std::vector<VirtualRobot::RobotNodePtr>& nodes) const