diff --git a/mcconf/mcconf_sten.h b/mcconf/mcconf_sten.h
index 97ce4e17..1f5f2160 100644
--- a/mcconf/mcconf_sten.h
+++ b/mcconf/mcconf_sten.h
@@ -37,7 +37,7 @@
 #define MCPWM_MIN_VOLTAGE				20.0		// Minimum input voltage
 #define MCPWM_MAX_VOLTAGE				50.0	// Maximum input voltage
 #define MCPWM_CURRENT_STARTUP_BOOST		0.03	// The lowest duty cycle to use in current control mode (has to be > MCPWM_MIN_DUTY_CYCLE)
-#define MCPWM_RPM_LIMIT_NEG_TORQUE		0		// Do not brake when going to fast, just stop applying torque
+#define MCPWM_RPM_LIMIT_NEG_TORQUE		0		// Use negative torque to limit the RPM
 #define MCPWM_CURR_MIN_RPM_FBRAKE		900		// Minimum electrical RPM to use full brake at
 
 // Sensorless settings
diff --git a/mcpwm.c b/mcpwm.c
index 17b6cc80..15900059 100644
--- a/mcpwm.c
+++ b/mcpwm.c
@@ -1520,14 +1520,14 @@ void mcpwm_adc_int_handler(void *p, uint32_t flags) {
 					direction ? MCPWM_MAX_DUTY_CYCLE : -MCPWM_MAX_DUTY_CYCLE, ramp_step_no_lim);
 			limit_delay = 1;
 		} else if (rpm > MCPWM_RPM_MAX) {
-			if ((MCPWM_RPM_LIMIT_NEG_TORQUE || current > -4.0) && dutycycle_now <= dutycycle_now_tmp) {
-				utils_step_towards((float*) &dutycycle_now, 0.0, ramp_step);
+			if ((MCPWM_RPM_LIMIT_NEG_TORQUE || current > -1.0) && dutycycle_now <= dutycycle_now_tmp) {
+				utils_step_towards((float*) &dutycycle_now, 0.0, MCPWM_RAMP_STEP_RPM_LIMIT);
 				limit_delay = 1;
 				slow_ramping_cycles = 500;
 			}
 		} else if (rpm < MCPWM_RPM_MIN) {
-			if ((MCPWM_RPM_LIMIT_NEG_TORQUE || current > -4.0) && dutycycle_now >= dutycycle_now_tmp) {
-				utils_step_towards((float*) &dutycycle_now, 0.0, ramp_step);
+			if ((MCPWM_RPM_LIMIT_NEG_TORQUE || current > -1.0) && dutycycle_now >= dutycycle_now_tmp) {
+				utils_step_towards((float*) &dutycycle_now, 0.0, MCPWM_RAMP_STEP_RPM_LIMIT);
 				limit_delay = 1;
 				slow_ramping_cycles = 500;
 			}
diff --git a/mcpwm.h b/mcpwm.h
index 5d4caecc..979ace00 100644
--- a/mcpwm.h
+++ b/mcpwm.h
@@ -120,6 +120,7 @@ extern volatile int mcpwm_vzero;
 #define MCPWM_AVG_COM_RPM				3		// Number of commutations to average RPM over
 #define MCPWM_RAMP_STEP					0.01	// Ramping step (1000 times/sec) at maximum duty cycle
 #define MCPWM_RAMP_STEP_CURRENT_MAX		0.04	// Maximum ramping step (1000 times/sec) for the current control
+#define MCPWM_RAMP_STEP_RPM_LIMIT		0.0005	// Ramping step when limiting the RPM
 #define MCPWM_CURRENT_LIMIT_GAIN		0.1		// The error gain of the current limiting algorithm
 #define MCPWM_FAULT_STOP_TIME			3000	// Ignore commands for this duration in msec when faults occur
 #define MCPWM_CMD_STOP_TIME				50		// Ignore commands for this duration in msec after a stop has been sent