I have established a workaround that has put trouble free life back into many supposedly 'broken' printers.
1. Turn OFF Power
2. Open the print head bay (as though you were about to change inks)
3. Turn ON power
4. Wait for print carriage to start moving to the left and let it go past half way
5. Before print carriage reaches left hand side (but after going halfway across) shut the cover.
6. Leave the Printer turned on
7. Good to go.
(Very occasionally I have had to do this twice in a row to get past the error)