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 and have ca...