I've been able to learn all the 950 commands I've attempted on my 2000mkII. I had an initial problem with the SAT function but was eventually able to learn it . Try experimenting with the lighting in the room (more lighting seemed to work better for me) and make sure you hold the 950 remote at least 2-3 inches from the 2000. I just got my 950 less than 2 weeks ago and love everything about it except the remote, which doesn't have nearly the flexibility of the RC2000. Good luck.