diff --git a/main/config.cpp b/main/config.cpp
index 99ccc45..2a83bd1 100644
--- a/main/config.cpp
+++ b/main/config.cpp
@@ -29,7 +29,8 @@ single100a_config_t configDriverRight = {
 
 //--- configure motor contol ---
 motorctl_config_t configMotorControl = {
-    .msFade = 900,
+    .msFadeUp = 1500,
+    .msFadeDown = 3000,
     .currentMax = 10
 };
 
diff --git a/main/motorctl.cpp b/main/motorctl.cpp
index fd8cfc8..9746a9e 100644
--- a/main/motorctl.cpp
+++ b/main/motorctl.cpp
@@ -46,9 +46,16 @@ void controlledMotor::handle(){
     }
 
     //--- calculate increment ---
-    //calculate increment with passed time since last run and configured fade time
+    //calculate increment for fading UP with passed time since last run and configured fade time
     int64_t usPassed = esp_timer_get_time() - timestampLastRunUs;
-    dutyIncrement = ( usPassed / ((float)config.msFade * 1000) ) * 100; //TODO define maximum increment - first run after startup (or long) pause can cause a very large increment
+    dutyIncrementUp = ( usPassed / ((float)config.msFadeUp * 1000) ) * 100; //TODO define maximum increment - first run after startup (or long) pause can cause a very large increment
+    //calculate increment for fading DOWN with passed time since last run and configured fade time
+    if (config.msFadeDown > 0){
+        dutyIncrementDown = ( usPassed / ((float)config.msFadeDown * 1000) ) * 100; 
+    } else {
+        dutyIncrementDown = 100;
+    }
+
 
     //--- calculate difference ---
     dutyDelta = dutyTarget - dutyNow;
@@ -56,14 +63,24 @@ void controlledMotor::handle(){
     //negative: need to decrease
 
     //--- fade up ---
-    if(dutyDelta > dutyIncrement){ //target duty his higher than current duty -> fade up
-        ESP_LOGV(TAG, "*fading up*: target=%.2f%% - previous=%.2f%% - increment=%.6f%% - usSinceLastRun=%d", dutyTarget, dutyNow, dutyIncrement, (int)usPassed);
-        dutyNow += dutyIncrement; //increase duty by increment
+    if(dutyDelta > dutyIncrementUp){ //target duty his higher than current duty -> fade up
+        ESP_LOGV(TAG, "*fading up*: target=%.2f%% - previous=%.2f%% - increment=%.6f%% - usSinceLastRun=%d", dutyTarget, dutyNow, dutyIncrementUp, (int)usPassed);
+        dutyNow += dutyIncrementUp; //increase duty by increment
 
     //--- set lower ---
-    } else { //target duty is lower than current duty -> immediately set to target
-        ESP_LOGV(TAG, "*setting to target*: target=%.2f%% - previous=%.2f%% ", dutyTarget, dutyNow);
-        dutyNow = dutyTarget; //set target duty
+    //} else { //target duty is lower than current duty -> immediately set to target
+    //    ESP_LOGV(TAG, "*setting to target*: target=%.2f%% - previous=%.2f%% ", dutyTarget, dutyNow);
+    //    dutyNow = dutyTarget; //set target duty
+    //}
+    
+    //--- fade down ---
+    } else { //target duty is lower than current duty -> fade down
+        ESP_LOGV(TAG, "*fading up*: target=%.2f%% - previous=%.2f%% - increment=%.6f%% - usSinceLastRun=%d", dutyTarget, dutyNow, dutyIncrementDown, (int)usPassed);
+        if (dutyTarget < dutyIncrementDown){ //immediately set to target when closer than increment (avoid negative duty)
+            dutyNow = dutyTarget;
+        } else {
+            dutyNow -= dutyIncrementDown; //decrease duty by increment
+        }
     }
 
     //--- apply to motor ---
diff --git a/main/motorctl.hpp b/main/motorctl.hpp
index 86708fe..593ff11 100644
--- a/main/motorctl.hpp
+++ b/main/motorctl.hpp
@@ -30,7 +30,8 @@ typedef struct motorCommands_t {
 
 //struct with all config parameters for a motor regarding ramp and current limit
 typedef struct motorctl_config_t {
-    uint32_t msFade; //acceleration of the motor (ms it should take from 0 to 100%)
+    uint32_t msFadeUp; //acceleration of the motor (ms it should take from 0% to 100%)
+    uint32_t msFadeDown; //acceleration of the motor (ms it should take from 100% to 0%)
     float currentMax;
 } motorctl_config_t;
 
@@ -67,7 +68,8 @@ class controlledMotor {
 
         float dutyTarget;
         float dutyNow;
-        float dutyIncrement;
+        float dutyIncrementUp;
+        float dutyIncrementDown;
         float dutyDelta;
 
         uint32_t ramp;