Your 611 has a different motor set up but a grinding noise isn't good. Is there grease in the gears ?? Take the motors out and clean with CRC electric cleaner sold at auto parts stores. Clean the commutator and armature good. Use a pencil eraser on the commutator and toothpick to clean out the slots on the armature. Put small drops of oil where a shaft turns in a bearing or hole. Definitely put a small amount of oil on the armature shaft ends. Clean the wheels and rollers real good. That will get you started. You will get lots more advice. Carefully clean the E units too. Look for loose and bare wires. Good luck.
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