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MF731 E202-0001

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My MF731 has started giving me this error, along with cryptic paper jam errors for the top feeder.  I've been able to reduce the number of paper jam errors by cleaning the rollers, but the E202-0001 error continues to show up any time I scan or copy. 

I was able to figure out the error has something to do with the scan sensor.  When it scans a document from the feeder tray it does not return to it's proper position when done.  After a full reset, it will return to it's home position and allow another scan before having the same problem.  When I do a full scan using the glass tray it scans to the bottom, but then seems to encounter a problem when trying to return to the top of the tray.  A full reset gets it back to the top but  a second reset is required to get it the last few inches back to its home position.  

I am inclined ot think this is a mechanical issue, but am unsure how to trouble shoot it.  Any guidance would be appreciated.  


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