I set two spools of PETG in slots B1 and B2. When B1 ran out B2 loaded shortly afterwards without an issue. An hour or so later the printer paused briefly, then resumed. That’s when HMS_0700_2000_0003_0002 error appeared.
From what I have read the error is just informative and has to do with filament changeover and considered normal. And the error will disappear after the print finishes.