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Do you use the HP Instant Ink service?
Did that message come up, on the printer itself, or on the screen? if it appeared on the screen, that's different... but in that case, check your ink levels! using the HP software on your computer.
If ink levels are low on one or more cartridges, that message essentially means, replace the ink cartridges that are low on ink.
Let me know what you find out, and how it goes.