diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
index c2c229c9a9927f8c1a8630c663e33eb5c6b91ade..1f15f38448c23954a77ef21bc64063479d36a2ca 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
@@ -140,6 +140,11 @@ namespace armarx
         float oriFactor = std::abs(delta(2)) / maxOrientationAcceleration / dt;
         factor = std::max(factor, oriFactor);
 
+        if (factor < 0)
+        {
+            throw LocalException("Error factor negative!");
+        }
+
         state += delta / factor;
         return state;
     }