This is an unexpected message when positioning the cap/wipe/purge assy in home position usually while initializing. this can be caused by a failure in the y axis encode. I suggest you manually position printhead, c/w/p in home position and cycle power. If error reoccurs I would make sure the y axis encoder is not dirty. Also if for some reason the c/w/p assy is stuck on the printhead due to it being shut down during a cleaning cycle then this error will occurr. If that was teh case then you need to carefully unseat the assy from the head without damaging the gaskets then lower to home position and cycle power.
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