>> Anders, can You suggest, how to implement that (preferably a simple
>> and easy way, so that even child or golden retriever :) would
>> understand)? The scheme in my IRAMS datasheet suggests using Shunt
>> resistors for that, but I suspect that something else should also be
>> needed, but I have no idea, how these things actually work.

In principle you could measure the current by attaching current
transformers or Hall sensors to the motor leads, avoiding the
high-side and high common mode voltage issues. The downside might be
speed/frequency response. What do people think about these
alternatives to resistive shunts?

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