I had a weird issue which also result in this error code. However the reason mine was doing it was because I mounted the encoder on a shaft that was being driven by the motor and to fix the problem I had to get a longer motor shaft and mount the encoder directly to the motor shaft. Which was weird because I had the exact same setup on another motor driving a different axis (where the encoder was mounted on a shaft being driven by the motor) and it worked fine. All timing pulleys were tensioned properly as well. But it all works now in the new configuration so all is good!
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