embodiments of the invention provide methods of controlling a motor , such as a servo motor . one method can include monitoring a current temperature of the motor and a power stage of the motor substantially continuously and substantially in real - time . this method can include determining optimum settings for a first time interval to remove power and the second time interval to provide power in order to deliver maximum output while remaining below the maximum rated temperature of the motor . one method can include pulsing power to the motor for a second time interval after a first time interval has elapsed and tailoring pulse shapes of the power provided to the motor for the second time interval . one method can include calculating a maximum phase current based on the rotor shaft torque for each real - time speed of the motor that correlates to the maximum allowable current draw from the power supply .