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This pdf might be useful, it will show you how to change the rollers. Hope this helps and let us know if you need further assistance. if the pdf does not open you can find it at this link, it will be the very first link which will open the pdf.
Your post is correct that error 53 refers to bad memory board or at times defective SIMM only. Since you have replaced them and no change, you may want to try to do a Cold Reset of the printer. This is done by powering on the printer while holding down the GO or Online button. Additionally, you may want to check/reset your NVRAM settings which can be done manually through the Service Mode.
This pagelists most of the HP Laser Printer error codes. This linkdisplays most HP LaserJets - Cold Reset Instructions.
Hope this be of some help/idea. Pls post back how things turned up or should you need additional information.
Trouble with the HP Laserjet printed output may be solved by using the following settings (or similarly named ones):
"Use raster Graphics" (instead of "Use vector graphics"). This may fix the problem of "reversed" text (white on black background) not printing, as well as other problems.
"Download TrueType Fonts as bitmap soft fonts" (select "bitmap" instead of "outline" or "graphics"). This may remove the overlapping of text on the printed document.
"Graphics dithering" select "coarse" or "fine" (instead of "none"). This selection may improve the quality of images contained in the document. You can find all these settings in your printer properties. Go to File, Print, click Preferences, in Printing Preferences, click one by one all the top options, and change one of the top solutions, one at the time, checking your printing output.
Always check if you have the latest version of Adobe Reader Program. If not download the latest version from Adobe, it's free.
Is this the first time that you have the problem? or with the same printer (HP 4si), did you were able to print PDF files in the past?
When I've worked on printers with this problem in the past it usually comes from the high voltage power supply going bad. There is also a low voltage power supply that runs everything except the actual printing so your printer will still operate without any errors but the print quality will go bad. The high voltage power supply is located under the bottom of the printer and it's too hard to replace. I can't advertise for any place on this site, but if you type in the part that you need into a search engine and look for parts on everyone's favorite bidding web site you should find the parts you need. Good luck.