Mike Kilroy has posted links to the software in previous threads so you should be able to search and find it fairly easily. I still primarily use an older DOS based version of Motionlink, but I believe they recommend Motionlink+ currently.

I'm not sure why you are focused on CR24 if you are having spindle drive issues. If I'm remembering correctly, this is for the 4th axis and has nothing to do with the spindle drive.

Since you believe you received an encoder fault when you touched the connector on the drive, you likely moved the encoder plug enough to cause the fault. I have seen issues on these drives from poor connections, so it may be worth unplugging and reseating the connectors to see if you can get a better connection. Be sure to have power off when you do this though.