Hi Ionnie, i checked the voltage when the machine is in operation, when the machine is lifting and start the second section the voltage drops to 32v, when the machine is moving the voltage drops to 35v, but although the voltage drops more in lifting in this operation doesn't appear any code. I though that the voltage drop alot, then i got a new battery with a year of use and i made the test but the result was similar and the code continued to appear. I think that the battery not is the problem.

Hi popeye and Crownie the encoder has the part number CR126699, i proved with a new encoder of same type.

i checked these wires from the 4 pins connect to Access 3, all pass a continuity test and i revised the voltage that the manual suggest in some pins, but all is OK.
I saw that when the machine is operated in low speed the code doesn't appear, some times in medium and always in full speed, i thought in a bad conductivity that can be affected for the vibration, then i made the test with the traction wheel in the air but the problem continued.
I checked the count in the A2.21 parameter, but is some complicated detect a mistake in the count, but i have the impression that when the code appear the counts has a jump. When i return with the forklift, i going to try connect directly the encoder to Access 3 for clear the doubt about the wires.
If you have other suggestion, i appreciate it, sorry for my bad english.