Hey @luzz94,
Since you are using the voltage torque mode, the code is not measuring the current.
So the current limiting is done throuh the voltage limiting in the worst case scenario (when the velocity is 0).
Wen you’ve set your current limit on 65Amps and your phase resistance is 0.053 Ohms.
Simplefoc will limit the voltage that can be set at
motor.voltage_limit = 0.053*65 = 3.4 V
So effectively you’ll be using only 3.4 out of your 24V.
However, when the motor spins with a ceraint velocity it generates the back-emf and at some point the difference in between the voltage you set and the back-emf generated is too low to accelerate your motor any further. So this voltage limit will in a way be directly limiting the motors maximal velocity.
So I’d suggest you to raise the current_limit in order to use all your 24V.