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The U4 codes for Xerox machines are for the fuser (heat roller) unit. It's rarely something that you can fix yourself I'm afraid.. Sometimes it pops up from overwork and powering off the machine allows it to cool down but if it keeps coming back you need to get it checked out properly..
The fuser is not warming up.
On that machine under the web there is a thermal fuse on a white plastic mount, it has one screw through it.
It is most likely blown. Possibly caused by a jammed paper in the fuser.
That fusable link needs to be replaced.