diff --git a/CHANGELOG.md b/CHANGELOG.md
index ac23bac9..bd9beae1 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,7 @@ Please add a note of your changes below this heading if you make a Pull Request.
   * Automatic d axis current for Maximum Torque Per Amp (MTPA)
 
 ### Changed
+* Changed ratiometric `motor.config.current_lim_tolerance` to absolute `motor.config.current_lim_margin`
 * Moved `controller.vel_ramp_enable` into `controller.config`.
 
 # Releases
diff --git a/Firmware/MotorControl/motor.cpp b/Firmware/MotorControl/motor.cpp
index 78dd9d03..6b9922c7 100644
--- a/Firmware/MotorControl/motor.cpp
+++ b/Firmware/MotorControl/motor.cpp
@@ -360,7 +360,7 @@ bool Motor::FOC_current(float Id_des, float Iq_des, float I_phase, float pwm_pha
     ictrl.Id_measured += ictrl.I_measured_report_filter_k * (Id - ictrl.Id_measured);
 
     // Check for violation of current limit
-    float I_trip = config_.current_lim_tolerance * effective_current_lim();
+    float I_trip = effective_current_lim() * config_.current_lim_margin;
     if (SQ(Id) + SQ(Iq) > SQ(I_trip)) {
         set_error(ERROR_CURRENT_LIMIT_VIOLATION);
         return false;
diff --git a/Firmware/MotorControl/motor.hpp b/Firmware/MotorControl/motor.hpp
index cf2c7c63..155e952f 100644
--- a/Firmware/MotorControl/motor.hpp
+++ b/Firmware/MotorControl/motor.hpp
@@ -74,7 +74,7 @@ public:
         // Read out max_allowed_current to see max supported value for current_lim.
         // float current_lim = 70.0f; //[A]
         float current_lim = 10.0f;  //[A]
-        float current_lim_tolerance = 1.25f;  // multiple of current_lim
+        float current_lim_margin = 8.0f;  // Maximum violation of current_lim
         // Value used to compute shunt amplifier gains
         float requested_current_range = 60.0f; // [A]
         float current_control_bandwidth = 1000.0f;  // [rad/s]
@@ -248,7 +248,7 @@ public:
                 make_protocol_property("direction", &config_.direction),
                 make_protocol_property("motor_type", &config_.motor_type),
                 make_protocol_property("current_lim", &config_.current_lim),
-                make_protocol_property("current_lim_tolerance", &config_.current_lim_tolerance),
+                make_protocol_property("current_lim_margin", &config_.current_lim_margin),
                 make_protocol_property("inverter_temp_limit_lower", &config_.inverter_temp_limit_lower),
                 make_protocol_property("inverter_temp_limit_upper", &config_.inverter_temp_limit_upper),
                 make_protocol_property("requested_current_range", &config_.requested_current_range),