Ok i know this is kinda old, but i found a solution.
First to those people to state I found a solution from hp, cannon etc etc and not give out the direct link, or instructions, then whats the point fing posting????
This error happens when you install an oem cartridge onto your system. Or havent used it in a while, so the machine is somehow misfigured.
This solution is for canon mp800, simply switch off printer. HOLD stop/reset and press and HOLD on/off button. release stop/reset. Now press stop.reset twice. then release on/off button, press stop/reset 4 times, wait 20 seconds, press on/off button twice.
switch machine back on and the printer should find the cartridges.
This method maybe the same for your mp*** if not google RESET CANON PRINTER MP*** and you'll find the correct buttons to press.
here's a printer on reseting a bunch of canon printers http://tricks-collections.com/reset-printer-canon-mp140-mp160-mp180-mp210-mp220-mp460-mp470-mp500-mp510-mp530-mp600-mp610-mp800-mp820-mp810-mp830-mp960-mp970/
good luck.. and FU canon for adding you scamming chips into cartridges.