Pick motor seems to be, well, not picking. It is the little arm that drops down to pick up a piece of paper from the paper tray. Making an awful sound.

I assume the printer is making noises and moving, TRYING to pick up the paper...
If so, there are 3 possible issues:

1) you have too liittle paper in the paper tray. Add more paper so that the tray is full to around 3/4, not less.

2) You may have too much paper on the tray. Remove some paper from the tray untill the tray is around 3/4 full, not more

3) The rubber rolls that pick up the paper may be dirty with paper dust or dirt. Put 2 drops of alcohol on q-tip and carefully clean them. Let dry 30 mins. before trying to use the printer.

That's odd
Usually its the other way around. ie stays down...
Remove the paper tray completely from the device and have a look inside,
is the pick arm lowered?
Check the RHS lift spring on the pick assembly, and the bell crank it attaches to. (these snap)

Hard to say from this end without a visual ...

There's really nothing in common except the motor. When you have the covers off, the printer will default to the manual tray because the sensor arm is on the cover. If you want to check printing from the lower tray with the cover off, you have to block the MF sensor. A folded piece of paper works well. You made no mention of lights coming on and at what point. Need that info to diagnose it any further.

Time to replace the paper pick rollers located in/near the tray and above on the pick-arm or paper path

Um I don't know what the other guy is saying since your paper jam has nothing to do with where he is telling to look...

From the service manual:

Error 241 subcode 10:
Page was not properly picked from tray 1.

Possible Causes:
Failure to feed possible causes include:
• Edge locking
• Worn or contaminated pick tires
• Overfilling of tray past the fill line.

Action:

Fan media.
Turn media over.
Reduce amount of media loaded in tray 1.
Replace pick tires.*

To replace pick tires:

Integrated tray autocompensator pick roll assembly removal

1. Remove the integrated tray, and look underneath the printer for the autocompensator arm. Pull the arm
down.



2. Press on the end of the tab (A) and pull the pick roll off the arm. Repeat this step for the pick roll on the other side. Next, gently release the autocompensator arm. Discard the used pick rolls.



Installation
1. Remove the new pick rolls from their packaging.
2. Pull the autocompensator arm down. Locate the recessed area on the pick roll, and align it with the tab on the arm. There are two arrows on each pick roll. Make sure the bottom arrow faces you as you align the recessed area with the tab.



3. Push the pick roll onto the arm with the tab aligned. Repeat this step on the other side to install the other pick roll.



4. Gently release the autocompensator arm. Insert, integrated tray.

Thanks and please take a moment to rate this solution as fixya.

Can you see the paper pick-up rollers try to move and pick-up the paper? Or can you hear it make noise? Also, is the problem in paper tray 1? You may have to adjust or reform a inter lock arm on the right side door. If you push the back part of the right top door closer, will it feed the paper? If so there is adjustments for the door and look for a bent Tab on the hing part of the top door about half way up. Just a note have the paper pick-up & paper feed and paper sep rollers been replaced?

Its caused by the rubber on the feeder wheels getting worn. And the fix is easy. Just peel the flat rubber rings off the rollers, flip them inside-out, and put them back on. Now your paper will feed all the way intot he machine. ( you can order replacements the next time)

Other: Dont use alcohol on these rubber parts, it only dries them out and makes it worse, you can wash them in soapy water though.

Use higher grade heavier paper, its a bit more expesnive but wont wear out your printer with jams and dust.

Most folks (including myself) think the rollers are actuated when printing, actually the paper tray causes the rollers to pop down onto the paper stack when you close the tray all the way. you cant see it, its like trying to watch the refrigerator light go off when you close the door! :)

does the paper feed at all(1/2 way) no feed,if not pick-up paper most likely will be feed motor if 1/4,1/2 or 3/4 fed will be sensor at falt or 2nd tray conectors dirty or making false contact.

1- either the tray is not lifting the paper to meet the rollers ( which may indicate a motor problem) or the rollers are not coming down to meet hte paper (clutch problem)