There are 2 catridges. You need to lift the top half of the machine (the rlease is wehre you put the paper in), the catridges will come to the middle position, then simply lift the clip and remove the cartridge
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are you using an HP 57 Tri-color cartridge? HP printers work best with HP cartridges and often have problems with refilled cartridges. the grinding noise you're hearing makes me wonder if the cartridge isn't seated all the way in its little carridge (the plastic part that holds the cartridge). have you had a chance to slip teh cartridge back out and try gently slipping it back in again?
Can be that the squeegy cleaners have got such a build up of ink on them that they arev making the contacts at the ends of the printhead too dirty; clean the contacts WITHOUT touching the printhead itself, or more ink will only flow out and lead to more build up.
when ever i get that message it's when i use a "Non-HP" replacement cartridge...try using a HP catridge, or most likely, the printer has reached the end of it's usefull life!
you can try a "full reset" of the printer by..
-unplug it and let sit for a little while,
-BEFORE plugging it back in, press and hold both the enter and cancel buttons,
-plug the power cord in, and wait to release the buttons until the display on the printer tells you to,
-in many cases, this corrects some problems (especially that awfull grinding/ratcheting noise).
after many years of faithful service, i think mine is officially dead though...even the full resxet doesnt help.