code 10 is armature fault R
code 20 is armature fault L

check your drive fuse and connections on the power circuit
also check the sensor wires on the drive motors for any damage, sometimes stuff off the floor can get up in there and damage the wiring.
In your other post you mentioned error 13
this is : IGBT driver fault R Fault signal from the drive board

check the IGBT and also look closely at the drive board and make sure it is ok, nothing burned.