Thanks for your help¡¡
I´ve changed the complete F-R contactor and the code was cleared.
Problem with traction motor was the original. There was a lot of sulphate and dust in the armature.
Thanks again¡¡¡¡

always you change the FW/RW contactors
check it the coils voltage!!!!!
the right voltage for the coils in all ev systems is 24, if you put another voltage, maybe don't work.
if this not the problem, check the microswitchs in, brake, parking brake, FW/RW selector lever, and the accelerator.... but, may be if you check what voltage missing (-) or (+) putting voltage direct in the coil at the same time you select one or another direction.

best regards

Possible when changing out tips you tightened the tensioner spring to tight and this is leading to tip stand off. If contactor is old then i suggest to do as edward stated.

it is most likely that the piece the tips ride on (correctly called the contactor armature) has lost the guide pin or the insulators are wearing out causing something to catch. you should replace the entire contactor assembly.