diff --git a/doc/main/pupdevices/motor.rst b/doc/main/pupdevices/motor.rst
index 674a679..436777f 100644
--- a/doc/main/pupdevices/motor.rst
+++ b/doc/main/pupdevices/motor.rst
@@ -64,10 +64,6 @@ Motors with rotation sensors
 
     .. rubric:: Control settings
 
-    You can only change these settings while the controller is stopped. For
-    example, you can change them at the start of your program. Alternatively,
-    first call :meth:`stop() <pybricks.pupdevices.Motor.stop>`, and then change the settings.
-
     .. automethod:: pybricks.pupdevices.Motor.control.limits
 
     .. automethod:: pybricks.pupdevices.Motor.control.pid
diff --git a/src/pybricks/_common.py b/src/pybricks/_common.py
index 278d93c..61d63c1 100644
--- a/src/pybricks/_common.py
+++ b/src/pybricks/_common.py
@@ -199,6 +199,9 @@ class Control:
 
         If no arguments are given, this will return the current values.
 
+        The new ``acceleration`` and ``speed`` limit will become effective
+        when you give a new motor command. Ongoing maneuvers are not affected.
+
         Arguments:
             speed (Number, deg/s or Number, mm/s):
                 Maximum speed. All speed commands will be capped to this value.