Index: firmware/App/Controllers/DialOutFlow.c
===================================================================
diff -u -rbb2663ead0175c2567bdc4c5ca1ddce851e36b19 -rd1667580eb3f57fd7fc45d69b8d10e0d4dca5dad
--- firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision bb2663ead0175c2567bdc4c5ca1ddce851e36b19)
+++ firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision d1667580eb3f57fd7fc45d69b8d10e0d4dca5dad)
@@ -57,7 +57,7 @@
 #define MAX_DIAL_OUT_PUMP_PWM_CHANGE            0.05F           ///< Maximum duty cycle change allowed.
 #define MAX_DIAL_OUT_PUMP_PWM_STEP_UP_CHANGE    0.01064F        ///< Maximum duty cycle change when ramping up.
 #define MAX_DIAL_OUT_PUMP_PWM_STEP_DN_CHANGE    0.016F          ///< Maximum duty cycle change when ramping down.
-#define MAX_DIAL_OUT_PUMP_PWM_DUTY_CYCLE        0.90F           ///< Controller will error if PWM duty cycle > 90%, so set max to 89%.
+#define MAX_DIAL_OUT_PUMP_PWM_DUTY_CYCLE        0.90F           ///< Controller will error if PWM duty cycle > 90%, so set max to 90%.
 #define MIN_DIAL_OUT_PUMP_PWM_DUTY_CYCLE        0.10F           ///< Controller will error if PWM duty cycle < 10%, so set min to 10%.
 #define MIN_DIAL_OUT_CL_PWM_DUTY_CYCLE          0.11F           ///< Dial outlet pump Closed Loop minimum PWM duty cycle.
 #define MAX_DIAL_OUT_PUMP_PWM_OFFSET_CONTROL    0.4F            ///< Maximum PWM offset (added to DPi PWM duty cycle).
@@ -85,6 +85,8 @@
 #define DOP_MAX_ROTOR_VS_MOTOR_DIFF_RPM         5.0F            ///< Maximum difference in speed between motor and rotor (in rotor RPM).
 #define DOP_MAX_MOTOR_SPEED_ERROR_RPM           300.0F          ///< Maximum difference in speed between measured and commanded RPM.
 #define DOP_MAX_MOTOR_SPEED_VS_TRGT_DIFF_PCT    0.15F           ///< Maximum motor speed vs target difference in percent.
+#define DOP_MIN_ROTOR_SPEED_VS_MOTOR_PCT       -0.6F            ///< Minimum rotor speed vs target difference in percent.
+#define DOP_MAX_MOTOR_SPEED_TIGHT_ROTOR_TOL     3200            ///< Maximum motor speed at which tighter rotor speed tolerance is applied.
 
 /// Persist time (task intervals) for motor off error condition.
 static const U32 DOP_OFF_ERROR_PERSIST          = ((5 * MS_PER_SECOND) / TASK_PRIORITY_INTERVAL);
@@ -1171,8 +1173,9 @@
         F32 deltaMCMotorSpeed = fabs( measMCMotorSpeed - cmdMotorSpeed );
         F32 measRotorSpeed = fabs( getMeasuredDialOutPumpRotorSpeed() );
         F32 measMotorSpeedInRotorRPM = fabs( measMotorSpeed / DOP_GEAR_RATIO );
-        F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
-        F32 measMotorSpeedDeltaPct = fabs( deltaRotorSpeed / measMotorSpeedInRotorRPM );
+        F32 deltaRotorSpeed = ( measRotorSpeed - measMotorSpeedInRotorRPM );
+        F32 measMotorSpeedDeltaPct = ( deltaRotorSpeed / measMotorSpeedInRotorRPM );
+        F32 rotSpdPctTol = ( cmdMotorSpeed > DOP_MAX_MOTOR_SPEED_TIGHT_ROTOR_TOL ? DOP_MIN_ROTOR_SPEED_VS_MOTOR_PCT : -DOP_MAX_MOTOR_SPEED_VS_TRGT_DIFF_PCT );
 
         // Check measured motor speed vs. commanded motor speed while controlling to target
         if ( ( deltaMotorSpeed > DOP_MAX_MOTOR_SPEED_ERROR_RPM ) || ( deltaMCMotorSpeed > DOP_MAX_MOTOR_SPEED_ERROR_RPM ) )
@@ -1193,7 +1196,8 @@
         }
 
         // Check measured rotor speed vs. measured motor speed while controlling to target
-        if ( ( deltaRotorSpeed > DOP_MAX_ROTOR_VS_MOTOR_DIFF_RPM ) && ( measMotorSpeedDeltaPct > DOP_MAX_MOTOR_SPEED_VS_TRGT_DIFF_PCT ) )
+        if ( ( fabs( deltaRotorSpeed ) > DOP_MAX_ROTOR_VS_MOTOR_DIFF_RPM ) &&
+             ( ( measMotorSpeedDeltaPct > DOP_MAX_MOTOR_SPEED_VS_TRGT_DIFF_PCT ) || ( measMotorSpeedDeltaPct < rotSpdPctTol ) ) )
         {
             if ( ++errorDialOutRotorSpeedPersistTimerCtr >= ( getPumpRotorErrorPersistTime( measMotorSpeed, DOP_GEAR_RATIO ) / TASK_PRIORITY_INTERVAL ) )
             {