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sounds to me like there is damage to the charge roller in the black pcu. these can be dissasembled and the charge roller inspected/cleaned but the blk drum units are inexpensive enough its probally just better to replace it
The black along the side of the paper is usually the black photoconductor , it also could be the fuser. If the color reg says can't be preformed it probly needs a new transfer belt. If the color reg completes and the colors still don't line up it might be the laser. It also could be dirty reg sensors.
Check the little black piece of plastic that senses the printed page exiting the machine. Our sensor was stuck and I was getting the same message (an similar Ricoh product). When I gently reset the black piece to center, moving freely, printing worked again. I think the sensor got jammed up when we were trying to remove a bad paper misfeed.
Ricoh manuals very confusing on this error message. They refer to standard tray, tray one, etc. without being clear whether it's a paper feed tray or the so-called "standard OUTPUT tray." The output is not really a tray, it's just the depression where your sheet lands after printing. I wrenched on the paper feed trays and their settings for an hour before I figured out they meant OUTPUT.
It may be something to do with the paper size settings on printer driver, document print settings or page setup. If for example the computer thinks the paper size is Letter, and the paper in Tray 1/2/3 is A4, it won't print.
You will probably need to get it serviced by a technician. However, if you need to just get by, a possible solution may be to print each side individually. This could also be faster than using the duplexor on the machine. Hope this helps.