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This error code means that the yellow drum/developer unit has failed.
Your machine has 4 drums, cyan,magenta,yellow and black. At best they
are good for about 40,000 copies. You can order one online and it is
fairly simple to replace. Let me know if I can help further.
This is toner related error. The code after the dash indicates what color is causing the problem. The fist 2 digits indicate the color of drum. 01 is Black, 02 is Magenta, 03 is Cyan, and 04 - Yellow. The "A0" is indicating that the measured value of the developer concentration is considerably low. The ATR sensor is faulty. The SALT sensor is faulty. The Intermideate Transfer Belt is soiled. I believe depending on how many copies the black drum has, it may be bad. They are warrantied for 40,000 copies. This should get you in the right direction. Good Luck.
try to run auto gradation adjust press * with head then go to adjustment/cleaning and follow the instruction or check the optical mirrors for dust contamination if is dirty you can remove 2 screws and remove the glass then wipe all the mirror with lint free paper or cloth( do this first before running the gradation adjustments)
this could be two things first, the transfer belt is slipping. It can be cleaned on the inside of the belt and the rubber drive roller. second, the laser units need to be timed, its not hard to do but a service tech will need to do both. it should be running great. the 3200 is a great box