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You probably have something stuck in the paper feed or under the print head.
First try moving the print head left and right with the printer off. If that doesn't work then,
Try looking for jam in the paper feed and specifically under the rollers. A small piece of paper or other debris, like fallen paper clip, staple. postage stamp are things I have seen stuck in printers that cause jams and error codes.
If these solutions don't work, post comment here.
I just replaced my MP810 printer head. Procedure: open printer - remove ink cartridges - Pick up arm located on right side of cartridge holder- remove printer head by picking up by the cartridge slots. Place new printer head in holder - replace printer cartridges - press arm down and your done....However, the error message stays on and reset procedure doesn't remove it. Canon tech support said their solution (because of distance from canon support) is to replace MP810 with comparable printer, which came to $299 with 15% discount and free shipping. My solution, I’m checking out other printers.
This is cased by a dirty paper feed path or paper feed sensor so it will need cleaning and blowing out. Make sure that all the internal paper guides and separators are free of obstruction. Make sure that the sensors are all clean that the internal paper guides are all in place and operate freely. Also clean it with a vacuum with a soft haired brush tool to avoid any damage. Also fan the paper before using it and do not overload the print paper tray. Also check that the pick up rollers are not worn or contaminated with dirt / debris etc. Also make sure that the print tray is not overloaded and make sure that the paper is not to tightly held by the tray side guide.
Also check the paper pick up for wear as this will cause additional pages to be collected and fed through the printer. Make sure that you fan the paper before use ant it is of suitable quality and weight.