RPM is available from the rear inverter on 0x289 bytes 2 & 3

motorRPM = (msg.buf[2] * 256 + msg.buf[3] - 20000)

Then I just hard cut the torque to 0

if (motorRPM < -1500)
{
torqueRequest = 0;
}

Great stuff! Is there any more detailed example how to run the motor? I have setup the hw ...