The drum maintenance clutch on the left side of the machine can cause this error also. Check your maintenance drawer and make sure the pins that ride against the cam followers don't have grooves in them.
31,000 are Motor Faults. I have been working on Phaser Printers and never encountered this fault. Check and make sure nothing is binding and you can rotate the drum freely. 31,001 lists as an MP_FAULT_AUX_MOTOR_ERROR. 31,004 isn't listed in my book.
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