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I do not know for sure on the Samsung but on HP's this problem is often caused by the pickup solenoid sticking. There is usually a foam bumper on the pickup solenoid which breaks down over time and then the adhesive stops the solenoid from releasing properly. You can clean it off all the old foam and adhesive and run without it, just make printer a little noisier. The solenoid will usually be on the right side.
There may be an obstruction inside the printer. Try this....remove the paper from the paper tray and put paper in the handfeed tray (front of the machine) If it feeds from that tray it means that the feed rollers in the bottom cassette are worn.
There are two types of paper jams: 1)A jammed piece of paper at or near a sensor. Or a shred of paper is stuck under a sensor. 2)A paper feed operation that does not send paper into the printer will get reported as a jam it the paper does not reach a sensor in the time that is allotted to reach the sensor.The printer knows that the page is late and suspects a jam occurred prior to the sensor. To determine if there is a “Pick” problem in the tray, place a mark (line or scribble) on the top sheet in the paper tray.Send a print operation to the printer.If a jam is reported, check the tray.If the marked page is still in the tray then you know the paper pick failed. There are dozens of reasons for paper to fail to pick.The simplest fix to try is to remove the paper and fan it to remove any possible static charge causing the paper to stick together. Don
I have the same printer without the doc feeder. Check the paper trail thru the printer for the paper sensor lever hanging up. It gets pushed up by the paper and can stick, making the printer think it still has paper in it. Pulling the cart unsticks it till you print again.