Hello... I own same machine. I had similar problem... in my case machine blocked completely. No motor movement at all and same error.
I open it and went step by step. I check all movement parts, sensors,... and I fount blocked wheely on the bottom. But this was my case.
Remove all covers and observe movement, where the sound come from.. it took me all day to found the mistake. Take your time
When you run it without covers make sure that you protect sensors from direct light, because it could stop the machine during testing.