diff --git a/addons/point_of_sale/static/src/js/Misc/AbstractReceiptScreen.js b/addons/point_of_sale/static/src/js/Misc/AbstractReceiptScreen.js
index 1980266cbca..b01e79024b2 100644
--- a/addons/point_of_sale/static/src/js/Misc/AbstractReceiptScreen.js
+++ b/addons/point_of_sale/static/src/js/Misc/AbstractReceiptScreen.js
@@ -25,6 +25,10 @@ export class AbstractReceiptScreen extends Component {
             if (printResult.successful) {
                 return true;
             } else {
+                await this.popup.add(ErrorPopup, {
+                    title: printResult.message.title,
+                    body: printResult.message.body,
+                });
                 const { confirmed } = await this.popup.add(ConfirmPopup, {
                     title: printResult.message.title,
                     body: "Do you want to print using the web printer?",
diff --git a/addons/point_of_sale/static/src/js/printers.js b/addons/point_of_sale/static/src/js/printers.js
index 5205f37a0c2..9a8fee1bf61 100644
--- a/addons/point_of_sale/static/src/js/printers.js
+++ b/addons/point_of_sale/static/src/js/printers.js
@@ -77,7 +77,7 @@ export const PrinterMixin = {
             // IoT box can't find a printer.
             if (!sendPrintResult || sendPrintResult.result === false) {
                 this.receipt_queue.length = 0;
-                return this.printResultGenerator.IoTResultError();
+                return this.printResultGenerator.IoTResultError(sendPrintResult.printerErrorCode);
             }
         }
         return this.printResultGenerator.Successful();
diff --git a/addons/pos_epson_printer/i18n/pos_epson_printer.pot b/addons/pos_epson_printer/i18n/pos_epson_printer.pot
index 8d5b5e49562..f6afec24908 100644
--- a/addons/pos_epson_printer/i18n/pos_epson_printer.pot
+++ b/addons/pos_epson_printer/i18n/pos_epson_printer.pot
@@ -26,6 +26,14 @@ msgstr ""
 msgid "Config Settings"
 msgstr ""
 
+#. module: pos_epson_printer
+#. openerp-web
+#: code:addons/pos_epson_printer/static/src/js/printers.js:0
+#, python-format
+msgid ""
+"Check on the printer configuration for the 'Device ID' setting. It should be set to: "
+msgstr ""
+
 #. module: pos_epson_printer
 #. openerp-web
 #: code:addons/pos_epson_printer/static/src/js/printers.js:0
@@ -58,6 +66,13 @@ msgstr ""
 msgid "Local IP address of an Epson receipt printer."
 msgstr ""
 
+#. module: pos_epson_printer
+#. openerp-web
+#: code:addons/pos_epson_printer/static/src/js/printers.js:0
+#, python-format
+msgid "No paper was detected by the printer"
+msgstr ""
+
 #. module: pos_epson_printer
 #. openerp-web
 #: code:addons/pos_epson_printer/static/src/js/printers.js:0
@@ -95,6 +110,26 @@ msgstr ""
 #: model_terms:ir.ui.view,arch_db:pos_epson_printer.pos_iot_config_view_form
 #: model_terms:ir.ui.view,arch_db:pos_epson_printer.res_config_settings_view_form
 msgid ""
-"The Epson receipt printer will be used instead of the receipt printer "
-"connected to the IoT Box."
+"The Epson receipt printer will be used instead of the receipt printer connected to the IoT Box."
+msgstr ""
+
+#. module: pos_epson_printer
+#. openerp-web
+#: code:addons/pos_epson_printer/static/src/js/printers.js:0
+#, python-format
+msgid "The following error code was given by the printer:"
+msgstr ""
+
+#. module: pos_epson_printer
+#. openerp-web
+#: code:addons/pos_epson_printer/static/src/js/printers.js:0
+#, python-format
+msgid "The printer was successfully reached, but it wasn't able to print."
+msgstr ""
+
+#. module: pos_epson_printer
+#. openerp-web
+#: code:addons/pos_epson_printer/static/src/js/printers.js:0
+#, python-format
+msgid "To find more details on the error reason, please search online for:"
 msgstr ""
diff --git a/addons/pos_epson_printer/static/src/js/printers.js b/addons/pos_epson_printer/static/src/js/printers.js
index 43c86186874..c371adc411f 100644
--- a/addons/pos_epson_printer/static/src/js/printers.js
+++ b/addons/pos_epson_printer/static/src/js/printers.js
@@ -19,9 +19,9 @@ class EpsonPrintResultGenerator extends PrintResultGenerator {
                 title: _t("Connection to the printer failed"),
                 body: _t(
                     "Please check if the printer is still connected. \n" +
-                        "Some browsers don't allow HTTP calls from websites to devices in the network (for security reasons). " +
-                        "If it is the case, you will need to follow Odoo's documentation for " +
-                        "'Self-signed certificate for ePOS printers' and 'Secure connection (HTTPS)' to solve the issue"
+                    "Some browsers don't allow HTTP calls from websites to devices in the network (for security reasons). " +
+                    "If it is the case, you will need to follow Odoo's documentation for " +
+                    "'Self-signed certificate for ePOS printers' and 'Secure connection (HTTPS)' to solve the issue"
                 ),
             },
         });
@@ -38,12 +38,31 @@ class EpsonPrintResultGenerator extends PrintResultGenerator {
         return printRes;
     }
 
-    IoTResultError() {
+    IoTResultError(printerErrorCode) {
+        let message = _t("The printer was successfully reached, but it wasn't able to print.") + '\n';
+        if (printerErrorCode) {
+            message += '\n' + _t("The following error code was given by the printer:") + '\n' + printerErrorCode;
+
+            const extra_messages = {
+                "DeviceNotFound":
+                    _t("Check on the printer configuration for the 'Device ID' setting. " +
+                        "It should be set to: ") + "\nlocal_printer",
+                "EPTR_REC_EMPTY":
+                    _t("No paper was detected by the printer"),
+            };
+            if (printerErrorCode in extra_messages) {
+                message += '\n' + extra_messages[printerErrorCode];
+            }
+            message += '\n' + _t("To find more details on the error reason, please search online for:") + '\n' +
+                " Epson Server Direct Print " + printerErrorCode;
+        } else {
+            message += _t("Please check if the printer has enough paper and is ready to print.");
+        }
         return new PrintResult({
             successful: false,
             message: {
                 title: _t("Printing failed"),
-                body: _t("Please check if the printer has enough paper and is ready to print."),
+                body: message,
             },
         });
     }
@@ -164,6 +183,7 @@ export const EpsonPrinter = core.Class.extend(PrinterMixin, {
             method: "POST",
             data: img,
         });
-        return $(res).find("response").attr("success") === "true";
+        const response = $(res).find("response");
+        return {"result": response.attr("success") === "true", "printerErrorCode": response.attr("code")};
     },
 });