Turn off the machine using the power button, unplug the power cord from the back of the machine, remove the ink cartridges, wait 2 min, plug the power cord back in, press the power button to turn on the printer, wait for the printer to prompt that the ink cartridges are missing, then replace the ink cartridges. If this doesn't clear the error you may need to re-prime the ink cartridges. There is a good explanation of how to do this at http://www.ccl-la.com/blog/index.php/hp-photosmart-ink-system-failure-1/.
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