RF's can't connecting to terminal server.

Hello,

I having trouble with my new terminal server. I am using RF's (intermec & motorola) in my business and We have two terminal servers that is running with 2008r2 standard. RF's can connect to first terminal server unproblematic  but can't connect to other one and getting error as "Because of a security error, the client could not connect to the remote computer, verify that you are logged on the network, and then try connecting again"

I can connect to all terminal servers with my domain computer via remote desktop connection.

Own enterprise network has PEAP-WPA2 user authentication

Rf's are not in the domain.

I need help from you.

Thanks.