Hello,
I think you'll find that the problem is sticky printhead guide rails. if it sticks, the printer realises there's a problem with head position, and goes into error mode.
clean the rails with a cloth soaked in meths or suchlike, then re-lube with a silicone lubricant.
There is one other possibility, the switching transistor for the stepper motor supply gets hot & the solder tends to crystallise & open circuit removing drive power. If the fault persists, take the front panel off (slide upwards) open it up (plastic clips all round inside of lid), disconnect & remove the print mech (2 plastic clips that come up on towers from the base) pop the board out & suck & resolder all the dry joints around the power transistors & the transformer. job should be good.
Be ultra careful about popping the plastic clips, a 1/8" flat blade screwdriver should be just enough. they were a bit fragile when the printers were new, 20 years later...
good luck