Hello Abdullah1,

Please check if DC braking function is active & how it is activated. i.e. please check p395 parameter value. If motor current is more than drive rated current, then try by increasing p603 value.

Hello,

A020 is alarm of overcurrent which means motor drawn current is reached almost to motor rated value & drive will trips in case if it exceeds the limit set in motor overcurrent/load parameter.

Please check, motor winding resistance, motor & cable insulation resistance, input supply voltage, DC bus voltage. If all above points are within permissible limits, please check if load dynamics are changed. 

BTW, how old is motor/system? Please check motor no load & load current. Motor or drive mechanic like gear box bearings condition or bush wear or increase in friction may cause motor to draw more current which triggers overcurrent alarm.

Hope this helps.