yes they both indicate a fault in the motor circuit but the 30 is for the pump motor not the drive motors.

with these random motor faults coming up i would pay close attention to the battery condition and also if it is bleeding voltage to the frame of the truck. Also check the cables running through the frame under the battery. They are known for corrosion issues if not kept clean, the corrosion eats away at the cables and eventually causes issues like this.

thanks for answering swoop. Sometimes shows error 30, which is the same as a 10 and 20, but the engine pump,when shows 10 and 20.After clean the contacts of the contactor line, the error out less, so I changed the line contactor for if the coil is failing.Also change the wires to the motor direction, because the engine had idle speed changes, and the brushes were fine. Now go out the same mistakes but only when they stop the machine in neutral for a while and direccion stops.After time,when they starting again selecting rear or forward direction , shows the errors.The errors never been showing with the machine running,and never stops it when is working.
Sorry for my english and thank you again

first check the harness for the sensor wires at the drive motors and make sure they are intact, sometimes things can get thrown up in there and damage the sensor wires.

if no problem found there then yes, go back and pull the logic and check the drive board, look at the diodes and make sure none of them are burned, if they are it needs repair or a new board.

worse case is the logic is bad but that is uncommon