release the ON button
now slide the printhead in which the cartridges get seated to and fro 2-3 times
plug in power cord and turn on printer
reinsert ink back and check if error repeats
if it does try the below
With the printer powered off but connected to a power source, press the Power button while pressing and holding
the Stop/ Reset button.
2) When the Power is lit, press the Stop/Reset button two times while pressing and holding the Power button.
3) When releasing the Power button and the Stop / Reset button (regardless of order), the printer will move into a
service mode. (Waiting for menu selection)
4) When the on/off lights in green, press the Stop/Reset button 4 times
once done turn the unit on and check
if still the error code repeats the unit would need to be serviced.
in such a case, if the printer is within warranty you may get it done through Canon service center or else through a local repair shop.