The 86:01 error references a Servo Motor Shutdown event for the scan axis motor. This is the motor that drives the carriage. Shut down the printer when error occurs.
The most common way to experience this error is to have a serious head strike with the media (or something else), where the carriage is trapped mid-scan. In that case, clear all obstructions, and check for any other obstructions in the carriage's scan axis, and power the printer back on.
Paul