Can you please tell me if I can use Rutex R2020 servo drive with Fanucs 20M servomotors?
Stats for this motor are the following: 23Nm TRQ, 18 Amp, 2 phase 213V 1500RPM motor.
You mentioned "2 phase 213v". Does that mean 2 phase AC volts? If so, no, the R2020 will not drive it. The R2020 is designed for DC brush motors with permanent magnets in its field.
Read the document entitled "motor and drive matching" found on the Rutex.com web site under documents.