Output torque is always directly proportional to current draw. At stall, drawn current is directly proportional to voltage, so a stalled CIM will output 2.41 n-m at 12v, 1.205 n-m at 6v, 0.2 n-m at 1v, and so on and so forth.

If you want to know drawn current at a variety of motor speeds, you need to do some basic modeling. Instead of V=IR, you have to take back emf (the voltage generated by the spinning rotor) into account:

`V-w*Ke = I*R`

`R = V_nominal/I_stall`

`Ke = (V_nominal + I_free + R)/(w_free)`

In the case of a CIM,

`R = 12/131`

`Ke = (12 + 2.7 + R)/(5330)`

So, a CIM spinning at 2000 RPM with 8v of power applied will generate:

`(8-2000*Ke) / R = 26.74`

amps of current, which equates to `2.41/131*26.74 = 0.49`

n-m of torque.

Limiting current in design is a great idea, and a good way to save battery and lengthen your motor’s life (and prevent burning them outright, especially in the case of 775s)