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We will have to make sure it is a true error and the message isnt stuck.
If it is still saying this message;
Open printer so that the cartridge housing is accessible (flip the scanner housing up). Turn printer off. While printer is off, gently slide cartridge housing to the left about halfway. Turn the printer on. After cartridge housing moves all the way to the right (which it will do on startup), gently push up and back on the housing and continue pressing/gently jiggling as the housing tries to free itself.
Eventually, the housing will snap back to the left which will stop tripping the error message. It can take quite a few tries.
There could also be a print/ink error or driver and need to readd the printer to your network after clearing it out.
Are you using USB or wifi?