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Code 20 Is the left side drive armature circuit. Check and make sure the armature terminals on left motor are ok and not loose or burnt causing intermittent open. I have seen brushes hung up in their holders cause this problem. Any OPEN in the armature circuit will cause this code. IBGT is at the negative end of the circuit, sense wire sees zero voltage.
Error code 20 are a problem of inductor motor traction LEFT.
Verify Contactor Line and Regenator.
First check this, after check D1L and D2, Capacitors isolements, T1L, CS2.
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