The cover is closed but the error message comes on saying 'top cover open'
When the printer is used often, and ink and dust accumulate inside, the detector switch will sometimes get stuck and won't be depressed by the cover correctly. Open the cover and look right next to the sticker. There is a small rectangular hole with the switch. Use a very thin tool like a small screwdriver or paperclip bent open to push the switch inside the hole to the back of the printer. Do NOT push it just down! You *must* move the switch away from you. Hold the switch in this position and close the cover. Carefully pull out your tool from the gap.
Just make sure the cover is proper and there is nothing stuck inside.
SOURCE: HP 5850 Top Cover Open error message
There is a sensor that tells if the cover is open or closed, and a plactic "tongue" protruding on the cover, usually near the hinge, that goes into a recess in the printer.
Two things may have happened - this "tongue" broke off at some point, or the sensor developed a fault.
There are optical sensors, where the "tongue" blocks light going in between an emitter and a receiver, and simpe electrical contact sensors, which open or short when the "tongue" goes up.
There's not much that can be done with an optical sensor, but an electrical one can be inspected and corrected if needed, if you have some manual skills.
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