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That error is telling you that the cleaning assembly is not cycling properly. Usually I find paper scraps on the right stopping it or a broken drive gear that means the entire engine assembly neeeds to be replaced.
This message means that one of the sensors (you can't pin-point which one) has detected something and stops the printer from continuing.
You will need to manually check (after turning off the printer) that there is no paper or debris inside the printer that could be causing the error.
If that doesn't help, try running a head clean as part of its maintenance software (may be under Brother in the Start Menu) or in the Control Panel under Printers.
Boyond this, it looks like you will need to get the printer serviced. If that costs too much, it may be a better alternative going for a new printer instead, but this would be the last resort. Please try the above first.