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You listed this in the auto section, so I'm not sure just where you have the problem. When you receive an error like this and you've tried several disks with the same result it means your CD player is bad and must be replaced.
First try this,use a old cd,press and hold eject,try to insert gently under stuck cd
DO NOT PUSH FULLY IN,just lift stuck cd slightly
Keep trying this usually clicks release micro switch and works on all single cd players
If this does not work you could remove unit, and get your local auto electrician to check it out
Go to fitaudio.com for removal details,which is quite easy to remove
E20 : Focus Error Cause(s): The CD player cannot focus on the disc or there is an internal focus problem. Correction(s): Try cleaning the disc or using a new disc. Make sure the disc is loaded correctly. The road could be too rough or there is too much humidity. If the problem is not corrected, service the unit at an ACDelco Service Center.Information provided by http://www.carforums.net/showthread.php?t=11338
E20: Focus Error
Cause(s): The CD player cannot focus on the disc or there is an internal focus problem.
Correction(s): Try cleaning the disc or using a new disc. Make sure the disc is loaded correctly. The road could be too rough or there is too much humidity. If the problem is not corrected, service the unit at an ACDelco(R) Service Center
The laser light is out of focus and that is why it will not play cd's you might have to replace are take to the dealer to fix that problem they have the proper tools
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