Hi,
Personally I wouldn't worry about running the motor off a 6V supply.
As for the circuit not operating properly below ~4V the only think I can think of is the POT command not doing the business. The manual says that the Pot/resistor should be 5-50k, you have 100k. It says to adjust Scale contstant to a lower value for large RC constants, you have the scale set to its maximum. Perhaps that's got anything to do with it.
/Henrik.
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