Yes, RC3000 series are EV100. He must be talking about an RC or RR/RD 5000 series or newer!?!?
But with reading his description... "Platform" etc... sounds like SP maybe? SP3000 series store multi codes.

If this is an SP3000... Your 2XX codes are steer issues. Yes rough bad floors can cause steer codes. As far as your travel issue and bypassing your height reset (the switch you mentioned on the back of platform) enables travel... I would say that would be a combination of your steer issues and an height encoder and/or height switches. If you have a faulty encoder and/or out of sequence or faulty height switch. Travel could be cut out if feedback is showing you are turning too sharp.

Just guessing though with the info provided. Again this theory is if we are talking SP NOT RC