I had this same problem with my printer that i bought off ebay for 10 dollars. I bought the pdf service manual and it turns out that when i disassembled it i found a small connection was not plugged in all the way on the pcb that controlled the head. Here is what the manual says about the error code
5,002.42 (0x2b03): YA_POS_FAIL Y-axis position failure, the drum is not where is should be, possibly because the drum position sensor electronics have failed, or because the
motor drive or drive belts have failed, or because something is physically blocking the motion of the drum
In my case because the little plug was only half way in it could not get a correct reading on its initial position and thus came this error.
Is the printhead locked for shipping? If it is locked there will be a round hole on the right side of the printer and there is a screw driver slot, If it is pushe din it is locked , if it is out and flush with the case it is unlocked. If locked just use a flat tip screw driver and quarter turn it and it should pop out and the printhead will be unlocked.
Yes the head should move from side to side and back to front during initialization. This is done so that it can determine where it is and then position it properly during warm up. If it does not then something is blocking it. Remove all the covers especially the ink load cover and look to see if the cap/wipe/purge assy is stuck to the printhead faceplate. If the printer is turned off during a cleaning cycle it will stick to it and cause the problem you describe.
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