OK, now the picture is getting clear. In your first post you mentioned control firmware 1.20 but you used 1.12.20 what is a big difference.
For that case you cannot use drive firmware 3V16 but need to use 3V08, as there is an internal interface between drive and control that needs to fit accordingly.
Fitting versions for actual releases:
ctrlX CORE
ctrlX DRIVE
1.12.20
FWA-XD1-AXS-V-0308N-NN.03
1.20.0
FWA-XD1-AXS-V-0316N-NN.00
1.20.5
FWA-XD1-AXS-V-0402N-NN
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