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If you receive this error message after replacing the cartridges then, insert the old cartridges and check, if the error message changes then, the new cartridges are defective. If you are getting the error message with running cartridges then, follow the steps below to make sure, if the cartridges are defective or not?
Remove all the cartridges from the printer.
Clean the contacts on them with a cotton swab dampened in IP alcohol.
Clean the contacts inside the printer also.
Reseat the cartridges, if you still get the error message then, unfortunately, the cartridges are defective.