Peter let me try to clarify. I can't measure torque with this method. I can only measure changes in torque. This only works while the motor is RUNNING at a constant speed. With a constant load to get the correct normal value. It must stay like this for some time to cancel the outlying values. Then when this load changes, the average value measured at A0 changes too. It works every time if the change is significant, well before any damage is done to the motor or the mechanism supporting it. I use it to detect when I get to the physical stop at the end of the movement range. I can also detect when the torque goes to zero when it was more.