diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
index 5b5d9f5d10e928ef8ef35ee5a42cd78c4198fd91..3a31f21bba9a5f75d22d08a7b7e2e9d574db1f49 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
@@ -52,11 +52,19 @@ namespace armarx
     void
     NJointHolonomicPlatformVelocityControllerWithRamp::rtPreActivateController()
     {
+        const float velX = velocitySensor->velocityX;
+        const float velY = velocitySensor->velocityY;
+        const float velRot = velocitySensor->velocityRotation;
+
         // init velocity ramp
         Eigen::VectorXf state(6);
-        state << velocitySensor->velocityX, velocitySensor->velocityY, 0, 0, 0,
-            velocitySensor->velocityRotation;
+        state << velX, velY, 0, 0, 0, velRot;
         ramp.setState(state, VirtualRobot::IKSolver::CartesianSelection::All);
+
+        getWriterControlStruct().velocityX = velX;
+        getWriterControlStruct().velocityY = velY;
+        getWriterControlStruct().velocityRotation = velRot;
+        writeControlStruct();
     }
 
     void