keith,
if it is an older first generation E5000 then see if it has a sevcon motor for the steering motor, if it does then what shovel is saying might be the case, the HPK document i'm looking at deals with that type of motor and says the ESD filter is the problem and it is right at the terminals on the motor.

The PTC filter i speak of in the other HPK document is supposed to reduce or eliminate the error 41 by acting as a current limiter to prevent the over current situation that is triggering the code.

Now i'm sure if you just replace the motor assembly complete that will stop the error for a while but i can bet you after the motor gets some hours on it that it will most likely return.

If those filters are not installed on the truck at the motor and the contactor they should be.