Welcome to Justanswer.com, my name is Dustin.I'm sorry to hear about the issue you are having, I will do my best to help you resolve it.
Just to clarify, this is happening on your Hp 2010 printer? http://uat.support.hp.com/us-en/product/HP-Deskjet-Ink-Advantage-2010-Printer-series---K010/4157433
If so, when was the last time you were able to successfully printer before receiving that error?
Dustin S.Senior Technician and Network Switching Systems Operator / Maintainer.