Generally, this is a laser assembly problem. The Denon 3910 machines also suffer from the same malady. The assembly needs to be replaced (if this is your machine's problem).
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I have a Denon 2200 and it does the same thing. It's been sent back to Denon a couple of times to be fixed and they say it is functioning as desgined and there is nothing to fix. They did post a FW update a while back on their website to help with the issue but it still happens. I have a friend that also has a Denon DVD player and he has similar issues also.
I see it alot with DVDs or CDs that I have burned myself. Commercial discs are usually fine but I have run into a couple of new discs that give it read error issues.
Unfortunately, I just think its the nature of Denon players. Like you, I can take a disc that the Denon has issues with and put it in a $29 Mintek player in my son's room and it never has a issue reading it.
I gave up on my 2200 and now use my Playstation 3 in its place. It has never had an issue reading any of my discs.
So far, every CD played. If I had a problem, I would turn it off and turn it back on and it would play. It seems to have a problem with burned DVDs but not all of them. I haven't tried original DVDs yet but I assume it will have better success in reading.
Soundwise, it's excellent and working.