I doubt it’s door related but it doesn’t hurt to make sure DCL6 is set correctly. Some of these encoder faults can be hard to track down, especially on the 10K drives. First you have to rule out any shielding problems. I forgot to ask if it’s a PM motor. Assuming it is, the drain is in the encoder. So do shield wire lands to interface card at motor, no tail out to ground. Make sure the shield is not landed in the machine room on the RC2 board. If it is landed to the RC2, it can be ok if the Faston terminal is not grounded but best just not to land it in the MR at all. Machine grounding is also important since the encoder drain is through the machine.