Might be numerous problems. Search the Designjet 500 user manual for more info
Download the service manual here:
http://h30499.www3.hp.com/t5/Printers-Designjet/HP-DesignJet-500-24-Error-Message-81-01/td-p/1160495
Refer to page 1-4 for more troubleshooting ideas...it is most likely the paper axis motor or the transmission gears...or you didn't fully seat the connector to the new encoder board..
SOURCE: error 81-01 on hp designjet 500+ new drive
Error indicates paper axiss shutdown. go to service mode & test paper advance test,observe drive roller rotating? at least jerking?. if its jerking remove the motor, rotate manually observe friction of drive roller if its too friction find the fault, apply grease for free movement. once completed do service test for paper axis motor. Note: only professionals can do this activity..
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