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You probably have something stuck in the paper feed or under the print head.
First try moving the print head left and right with the printer off. If that doesn't work then,
Try looking for jam in the paper feed and specifically under the rollers. A small piece of paper or other debris, like fallen paper clip, staple. postage stamp are things I have seen stuck in printers that cause jams and error codes.
If these solutions don't work, post comment here.
The 6A00 is a Canon generic code for paper path jam. Some where in the paper path a sensor is activated indicating paper jam so the printer will give off a 6A00 code.
Clear a purge unit if its jammed with paper, paper clips, push pins, screws, cookie crisp, flower bud pods or the like
Perhaps there is paper still jammed inside the printer that you cannot see (or little bits from a previous jam)
1) Turn off the power 2) Disconnect the power cord and USB cable 3) Open the rear cover and see if paper is jammed inside the cassette area. Gently remove any paper and make sure no little bits of paper are left inside 4) Open the scanning unit (printer cover) and check that no paper is stuck internally. Be careful not to touch the components inside the printer. 5) Reattach the power cord and USB cable 6) Power On and retry your print job
If the feed roller in the back wobbles a lot, the end could be broken, but usually I find that something has fallen in the back stopping the paper. The best way to look for something fallen in is to use a flashlight and small mirror.
Sounds like something has fallen into the paper path. Use a flashlight and small mirror to look down the slot where the paper goes. You may have to use a straightened paper clip or the like to help remove the obstruction.
Your printer is politely asking you to please get a torch, and open the lid of unit and thoroughly check inside all over for a tiny jam of paper or something else. I am willing to bet you will find some jam. I would also switch it off, and wait a while before turning on and printing again. Good luck