Since you haven't told us the make and model of your steps, we must assume they are Kwikee brand. The steps should retract when the ignition key is turned to on-unless, the screen door is open. Lack of lubrication can cause high electrical resistance, which triggers the controller to stop or reverse direction.
Just in case you do have Kwikee brand steps read the
Kwikee Product Service Training Manual.
Then watch this vimeo for testing the steps. This procedure is in the service manual too.
https://vimeo.com/45602427
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2000 Winnebago Ultimate Freedom USQ40JD
, ISC 8.3 Cummins 350, Spartan MM Chassis. USA IN 1SG 11B5MX,Infantry retired;Good Sam Life member,FMCA.
" My fellow Americans, ask not what your country can do for you, ask what you can do for your country. John F. Kennedy