diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerInterface.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerInterface.cpp
index 8ca4311f4be9007bb6e75a46a1aa889e947eb770..0db22289e2d7be967f79ac044a88270c06f4a47f 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerInterface.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerInterface.cpp
@@ -30,7 +30,7 @@ namespace armarx
 {
     NJointHolonomicPlatformVelocityControllerInterface::
         NJointHolonomicPlatformVelocityControllerInterface() :
-        maxCommandDelay(IceUtil::Time::milliSeconds(800))
+        maxCommandDelay(IceUtil::Time::milliSeconds(500))
     {
     }
 
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
index 3a31f21bba9a5f75d22d08a7b7e2e9d574db1f49..80b581c148d2b9613687f7b088708046cd58d414 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
@@ -61,10 +61,11 @@ namespace armarx
         state << velX, velY, 0, 0, 0, velRot;
         ramp.setState(state, VirtualRobot::IKSolver::CartesianSelection::All);
 
-        getWriterControlStruct().velocityX = velX;
-        getWriterControlStruct().velocityY = velY;
-        getWriterControlStruct().velocityRotation = velRot;
-        writeControlStruct();
+        NJointHolonomicPlatformVelocityControllerControlData data;
+        data.velocityX = velX;
+        data.velocityY = velY;
+        data.velocityRotation = velRot;
+        reinitTripleBuffer(data);
     }
 
     void