This error mains Y axis positioning faillure.
the drum sensor is dirty or faulty.
What you can do, remove the left cover as the printer is facing you, below this you will find the drum sensor.
Look for a round black housing +/- 7-8 cm diameter covered whit transparant plastic. Inside you find the positioning sensor. Be careful because the remove of this sensor can damage your printer. The sensor exist in to parts.
The first part is the drum positioning guide, directly connected on the drum shaft. To remove release the spring on the back and relaese the 3 screw of the housing. slide it gentle of the shaft where you have MARKED his position on the shaft. When it is of you can remove it out of the housing and then you can release the to screws containing the sensor. clean the inside of this sensor whit a scrap of paper like toilet paper. To reassemble use the oppesit of the remove procedure. if you have the same result it is most likely thad the sensor is faulty.
Hope fully it is the solution to your problem
Dany