Cartridge problem or printhead problem
Start with a proper power reset, because these messages clear on one more often than you'd expect: with the printer switched on, pull the power cord from the back and from the wall, wait a minute, then plug it back in. If the message returns, open the printer, take each cartridge out, and clean the copper contacts and the matching contacts inside the carriage with a dry lint-free cloth. Reseat everything until it clicks. If the printer names a specific cartridge each time, that one is the suspect and swapping it is the fastest test.