Unfortunately this error indicates a hardware problem. It is not actually related to the cartridges at all.
Specifically, it is the result of a bad printhead (or the logic board that controls it).
The head is a "wear item" that fails with age/use. As this is a 2006 model printer, it is well past its 3 year service life, so this type of failure is not surprising.
The printer has served its expected life may times over and greatly exceeded any value that could be reasonable expected from it.
There is one step you can take here, to clean and reset the system, but it is very unlikely to help. 99.9% of the time, this does come down to a hardware fault.
While it can be fixed, it is not worthwhile to do so. You would have to, at a minimum, replace the printhead, which costs about $85; if the logic board is bad you’re looking at $200-250. For $80-100 you can replace the entire machine with a brand new model, with current technology and a fresh warranty, which makes more sense than buying the new part for an older printer.
Depending how you'd like to proceed, I can advise on the cleaning/reset steps if you wish to try, help with finding parts, finding a local repair shop, or recommending replacement options for you. Just let me know.
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