can't be done on this truck without the handset or laptop

The model and serial number of this truck is Model #ESR18N
Serial # 4SR2447708 and it's 24v. Is there a way to access the learn mode without a laptop or handset? i.e. Raymond or crown trucks.

well most certainly having a serial number would be most helpful
also knowing the voltage of the truck would help narrow it down quite a bit more.

but to answer his question
yes , putting in a new control handle does require certain functions to be relearned, either by handset, laptop or dash service menu access. If you are a service tech then you should have access to manuals to assist you in doing this task.
If you are not then you should call someone in to do it. Setting a parameter wrong can cause adverse effects that may cause your truck to function incorrectly or poorly.

Parameter 251 would be the one to deal with relearning the hall effect sensors in the handle on a 24v truck though.
The 36v trucks are slightly different with a different control system in them. 24v trucks have the sauer-danfoss system the 36v trucks (early generation) are zapi , later generation is canbus system , i'm not sure of mfg, could just be a newer version of a sauer danfoss system but i'm banking on it just being a newer version of the zapi system since most of its components are basically the same as the older versions.

Without a serial number the code would indicate a 24 volt truck. We had 3 cats with that system (sauer danfoss) in our rental fleet. Just about everything you do requires a BPK handset or BPS software. The service manual says a teach in procedure is required. This is done with the handset or software. I know the joystick is different than the 36 volt trucks. The 36 volt is plug and play. The correct part number I found is RL474898. Code AL230 indicates failure in power stage detected during power on. Power stage and brake won't switch on. Correction check battery voltage low.