I had this same issue and i fixed it.
But it is a rubber belt that needs to be cleaned.
Use a paperclip to Manually reject. You will see a small pulley and a bigger one in the middle gap of the cd tray.
Use tweeters to take the belt out.
Use a damp paper towel to clean any dust/dirt from the small rubber belt.
Then carefully put the rubber belt back on.
Turn the system on...
This has fixed 2 system for me.