This should be a Clark OP-15X right ?? The problem is i think the steering but this Raymond clone has no encoder.

I will check the code in my Maual for you to be sure & check the post tomorrow - Meanwhile try this Ign Turn key off - then turn Key on & at the same time stand on & off the deadman pedal verfst 6 times or more when you hear a lot of beeping you have been sucessful.
You have now entered self test mode all the swithes on the truck can be tested & verified by a beep, beep on & off -
Go to front of the truck & remove plaastic cover & with a 15mm wrench open the front door.
You will see the steering motor to your left right in front of you is the Drive motor below the drive motor is the steering ring gear,
& again on your left is a Flat plate to which the steer motor is mounted - at the very front are two swithes encased in a plastic covers these are the steer switches.
Activate the steering & turn full right - back at the swithes - you can now see the cam should be on your left test each swith by moving the arm mechanicaly you should hear beep - beep / on - off when you transition to the other swith will make a funy alarm sound then test the other switch in the same manner.
Perform this test & get back to me with the results
Parts # for the swith is 934407 & the arm is 934405 steering gear is #934079
If you see lots of iron filings when you look at the steer- motor then the gear is gone 4 bolts on motor & rubber band arround both switches.good luck.