Hi momonthego and Welcome to TSF,
I've look through the manual and unfortunately there are no instructions as how to get to the fuser (Which is what starts to warm up during startup, hence your error message). What you could try to do is turn off the machine, unplug the power cord, wait 2-3 minutes and start it up again.
If the problem still persists call Samsungs support ( site here
) and see if they can guide you through reseating the fuser, or possibly ordering a new one.