[Leadshine]

Hi Ron,
Thank you for your attention on Leadshine products.
Err020 means position following error. Our default setting is 1000 pulses in the software. If the error value of encoder feedback exceeds 1000, Err020 will be generated. ER020 frequently, could you please check encoder cable if it's loose(bad connection) or too high acceleration. By the way, what motor model do you use ?I need to check if its Leadshine motor and encoder resolution.

[Leadshine]

First of all, I'd like to know what model of new motor you have changed? If you have used Leadshine encoder extension cable ? I think there are some problem with encoder signal transmiting between your new motor and ES-DH1208.