# Motor Vibrates and Spins Unexpectedly When Using Angle Control + FOC Current in SimpleFOC

**URL:** https://community.simplefoc.com/t/motor-vibrates-and-spins-unexpectedly-when-using-angle-control-foc-current-in-simplefoc/8297
**Category:** Uncategorized
**Tags:** bldc, esp32, as5600, current\_sensing
**Created:** [August 11, 2026, 12:32pm UTC](https://community.simplefoc.com/t/motor-vibrates-and-spins-unexpectedly-when-using-angle-control-foc-current-in-simplefoc/8297 "2026-08-11T12:32:57Z")
**Posts on this page:** 1
**Showing post:** 2

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### Author: ![o\_lampe](https://community.simplefoc.com/letter_avatar_proxy/v4/letter/o/85e7bf/32.png) [@o\_lampe](https://community.simplefoc.com/u/o_lampe)
#### Post date: [August 12, 2026, 6:28am UTC](https://community.simplefoc.com/t/motor-vibrates-and-spins-unexpectedly-when-using-angle-control-foc-current-in-simplefoc/8297/2 "2026-08-12T06:28:33Z")

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Hi,  
the symptoms you described indicate a runaway situation. You also didn’t mention anything about velocity PID tuning.  
I guess you went from torque-mode to angle-mode directly?  
If you want to bypass velocity tuning, you should try `angle_nocascade`-mode.

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