Hey RiSun,
I had this problem repeatedly. It caused sliped gear on maintenance station. Your machine has setted autocleaning, i guess after 8 hours. Your machine run cleaning and the problem appears near 65% of cleaning process. The gear start turning on opposite way to slide wiper back towards or run pump (dont know what station doing) and you could listen cracking of slipped gear or in my case loud whistling of jammed gear. Then machine show up that message.
If your are skilled, you could solve this problem out by taking off gears from station and get those gear in right order and timing.
Be careful and dont underestimate that. Everytime you get this error, you must power off machine, then start it up. The wiper stay in position toward head. When machine starting up, head moves thru stucked wiper in position towards head, to spit ink to foam in high speed and this could cause bigger problems in advance. If you get this error, power off machine, take a screw driver and turn upper gear for few rounds clockwise. That move will loose pressure on stick that holds wiper and you can move wiper back. Then you could power on machine.