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A code 20 means, roughly, that the mechanism of the camera has a problem.
Try a different lens assembly on the camera, after turning it Off again of course.
Then try cleaning the terminals in the battery compartment, after removing the batteries, first by rubbing off with a fresh pencil eraser, then by wiping the terminals off with cotton swabs moistened in rubbing alcohol, then letting them dry off for 5+ minutes with the battery compartment door open, then try turning the camera On again.
Has the camera been dropped or otherwise subjected to mechanical shock(s) in its lifetime?
Has the camera been operated in or subjected to, temperatures below 32 degrees F (freezing point) or above about 100 degrees F ?
Has it ever been subjected to a humidity higher than 85 % or gotten wet ?
Has the camera been operated in a gritty or sandy environment, such as a beach, a seaside, a construction site, or the like?