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The issue may happen because of the following reasons.
An ink tank(s) is not seated properly.
Paper is jammed or there is an object inside the printer.
The printer needs to be reset.
Or the encoder film/strip may need to be cleaned.
So, first check if the ink tanks are seated properly. Follow the instructions in the link below.
Second, check if there a paper is jammed or any foreign object inside the printer. Find the instructions from the link below.
Then, reset the printer. Turn off the printer, unplug all its cables and wait for 5 minutes. Then, plug in the cables and restart the printer. Check if the error remains.
If the issue still persists, follow the instructions below.
Link : https://support.usa.canon.com/kb/index?page=content&id=ART142915&actp=search&viewlocale=en_US&searchid=1474041115841
There is a thin (1/4"wide) plastic strip running across the width in front of and below the drive belt. This is part of the optical encoder that tells the print-head where it is. If you look closely, there are fine black vertical lines on this strip. If the strip gets a piece of crud on it, you get an error during the start-up sequence. Gently clean this strip with a damp lint-free tissue. This also fixed a gap in the printing running lengthwise (not across the page like a clogged head).
If the issue still persists, try the following.
The last solution is to grease the track the print carriage slides along. Apply grease to as much of the track as you can reach without disassembling the printer and rub some along the underside of the track. You will probably still get the error at first, but keep opening and closing the printer so the carriage slides back and forth and hopefully it will go away after a few tries.
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