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Try first, turning Off the Xerox machine.
Leave it that way for 2+ hours, or overnight.
Turn On again, after removing Tray 1 (if you can.)
Let it initialize. Does that clear the message, once you have been prompted to do something about the removed tray?
Some background please:
Was there a paper jam in that area recently or just before?
How old is the printer?
Is it kept in an environment below 80 degrees F ?
What is the full and exact error message? (I would guess "Paper Jam Tray 1" but I need to be sure, please.)