# Gimbal Motor experiencing severe jitteriness in open loop velocity example
**URL:** https://community.simplefoc.com/t/gimbal-motor-experiencing-severe-jitteriness-in-open-loop-velocity-example/6746
**Category:** developement
**Tags:** esp32, tmc6300
**Created:** [February 14, 2025, 6:59pm UTC](https://community.simplefoc.com/t/gimbal-motor-experiencing-severe-jitteriness-in-open-loop-velocity-example/6746 "2025-02-14T18:59:11Z")
**Posts on this page:** 3
**Page:** 1
### Author:  [@rg12](https://community.simplefoc.com/u/rg12)
#### Post date: [February 14, 2025, 6:59pm UTC](https://community.simplefoc.com/t/gimbal-motor-experiencing-severe-jitteriness-in-open-loop-velocity-example/6746/1 "2025-02-14T18:59:11Z")
Hi everyone!
I’m trying to figure out why my iPower GM2804 motor experiences severe vibrations in open loop configuration: I have attached a slow-mo video of what’s occurring for
[low velocities.](https://www.dropbox.com/scl/fi/53sa487q9vyu20a0kzkk1/IMG_5389.mov?rlkey=m3j0ym78r7qipg6j32cd95433&st=zjdt78jp&dl=0) =2
For velocity=20, the performance of the motor is a lot more smoother. However, there is still a noticeable amount of vibrations.
I am powering the motor using an external 10V supply (making sure the ground is shared between the supply and the ESP32s3). The motor is driven using a TMC6300.
I am not sure how to begin with troubleshooting. I tried playing around with the voltage limits to no successful effect:
```auto
driver.voltage_power_supply = 10;
driver.voltage_limit = 3;
motor.voltage_limit = 3; // [V]
```
From my tinkering, increasing the driver voltage limit above 3V causes only jittering back and forth while decreasing the voltage below about 1V causes little motor movement.
Any help would be greatly appreciated.
---
### Author:  [@Valentine](https://community.simplefoc.com/u/Valentine)
#### Post date: [February 15, 2025, 3:33pm UTC](https://community.simplefoc.com/t/gimbal-motor-experiencing-severe-jitteriness-in-open-loop-velocity-example/6746/2 "2025-02-15T15:33:29Z")
> [@Gimbal motor overheating](https://community.simplefoc.com/t/gimbal-motor-overheating/1034/6):
>
> I keep seeing this question over and over, perhaps it is good to put it to rest, hopefully others will read this and try it before giving up in frustration. My motor overheats, my motor vibrates but doesn’t move, my motor is griding and skipping, etc. Remember that the voltage AND velocity for an open loop, no feedback algorithm for a particular unknown motor work in a very narrow band. The best way to handle this is to attach two potentiometers to A0 and A1 or whatever analog si…
Cheers,
Valentine
---
### Author:  [@rg12](https://community.simplefoc.com/u/rg12)
#### Post date: [February 19, 2025, 4:50pm UTC](https://community.simplefoc.com/t/gimbal-motor-experiencing-severe-jitteriness-in-open-loop-velocity-example/6746/3 "2025-02-19T16:50:47Z")
If anyone has similar issues with this motor at low speeds specifically, there is a chance it is simply to do with the motor. I ordered a [very cheap BLDC motor](https://www.aliexpress.com/item/4001259375228.html?spm=a2g0o.productlist.main.3.18b94e4c6rPPW2&algo_pvid=3afff2e5-ecd5-4901-8954-e9b75afcbab2&algo_exp_id=3afff2e5-ecd5-4901-8954-e9b75afcbab2-1&pdp_ext_f=%7B%22order%22%3A%227%22%2C%22eval%22%3A%221%22%7D&pdp_npi=4%40dis%21GBP%2111.05%219.59%21%21%2113.53%2111.74%21%40211b612817399837261021966e7881%2110000015496964275%21sea%21UK%212591107491%21X&curPageLogUid=mtTBcCip6tUa&utparam-url=scene%3Asearch%7Cquery_from%3A) and it works like a charm with little tuning required.
If anyone has similar issues with this motor, any solution would definitely benefit the community.