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I can't tell you specifically what you should do to try and repair your printer, but I do have one suggestion, a link to a Service Manual and a probable reason why a service tech wants to charge you so much for a repair.
If you look in the service manual, here is what it says regarding error 6000:
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Line feed error [6000]
Solution
(Replacement of listed parts, which are likely to be faulty)
- Timing sensor unit (QM2-2683)
- Timing slit disk film (QC1-6229)
- Feed roller ass'y (QL2-0925)
- Platen unit (QM2-2202)
- Logic board ass'y (QM2-2670)*1
- PAPER FEED MOTOR (QK1-1502)
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In other words, somebody looked in the book and quoted you a price to replace all these parts.
One very common problem for printers is that the paper feed rollers develop a slick surface and don't grip the way they are supposed to. If you're experiencing a paper-feed problem, you can try buffing the rubber feed rollers lightly with fine sandpaper to help them grip once again like they should. (I've repaired many printers doing nothing more than this.)
Below is a link to the Service Manual for your printer. Hope this helps.
http://noel.bouvet.free.fr/ip4200/Canon%...