@mrehorstdmd yes I knew its gonna happen but didn't thick it would be bad for the belt.
For BLDC motor I'm still figuring how much steeps per revolution I could get out of it.
If you'll watch this Youtube video link text
It looks there are issues when traveling at low speed with resonance frequency but he claimed that it could be solved in firmware update. This is all new to me so I'm learning as I go.