diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
index e1a97611e516d4b6169cb3ea804578f5fd779049..c2c229c9a9927f8c1a8630c663e33eb5c6b91ade 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
@@ -137,7 +137,7 @@ namespace armarx
         float posFactor = posDelta.norm() / maxPositionAcceleration / dt;
         factor = std::max(factor, posFactor);
 
-        float oriFactor = std::abs(delta(3)) / maxOrientationAcceleration / dt;
+        float oriFactor = std::abs(delta(2)) / maxOrientationAcceleration / dt;
         factor = std::max(factor, oriFactor);
 
         state += delta / factor;