S866 E07 is motor failure or better said a Hall error fault.
So check first Hall wiring connections and the motor cable connector is fully pushed home. Also check the wiring as it leaves the axle for damage or twisting as a short can occur at this location.
If E07 persists use a meter to check the 5v value, you will need to probe the gnd black wire against the Blue , Green and Yellow thin Hall wire connectors with battery power to see if you see approx. 4- 5v , whilst testing each Hall wire rotate the motor backwards slowly to see that the hall switches in the range 0v -5v . If you do it too fast you will see approx. 2.5v, any that don't switch from 0 -5v = a failed Hall sensor so the motor will need opening to replace it.