diff --git a/xr_rm_teleop/test/test_joint_control.py b/xr_rm_teleop/test/test_joint_control.py
index d88aef4..aefea68 100644
--- a/xr_rm_teleop/test/test_joint_control.py
+++ b/xr_rm_teleop/test/test_joint_control.py
@@ -136,12 +136,19 @@ def test_short_udp_timeout_repeats_last_limited_target_without_query() -> None:
         stop=lambda: pytest.fail("stop must not run"),
     )
     teleop = _timeout_teleop(adapter)
+    warnings = []
+    teleop.get_logger = lambda: SimpleNamespace(
+        warn=lambda message: warnings.append(message)
+    )
 
     teleop._handle_stale_joint_feedback(0.2)
 
     assert sends == [([0.1] * 7, False)]
     assert teleop._last_joint_command_target == [0.1] * 7
     assert teleop._grip_rearm_required
+    assert warnings == [
+        "right_rm75 UDP关节反馈超时（age=200.0 ms），保持最后安全目标。"
+    ]
 
 
 def test_short_udp_timeout_without_active_target_stays_stopped() -> None:
diff --git a/xr_rm_teleop/xr_rm_teleop/single_arm_velocity_teleop.py b/xr_rm_teleop/xr_rm_teleop/single_arm_velocity_teleop.py
index 413645c..9a81dcd 100755
--- a/xr_rm_teleop/xr_rm_teleop/single_arm_velocity_teleop.py
+++ b/xr_rm_teleop/xr_rm_teleop/single_arm_velocity_teleop.py
@@ -1039,7 +1039,8 @@ class SingleArmVelocityTeleop(Node):
         self._grip_rearm_required = True
         if self._joint_feedback_ready:
             self.get_logger().warn(
-                f"{self._arm_name} UDP关节反馈超时，保持最后安全目标。"
+                f"{self._arm_name} UDP关节反馈超时"
+                f"（age={age * 1000.0:.1f} ms），保持最后安全目标。"
             )
         self._joint_feedback_ready = False