Solution
Misaligned tray inserted in the printer
Once the error message occurs, pull the tray out and insert it back into the printer and ensure that it is in its proper closed position. If the tray is still misaligned, take it out completely from the rail guides and then re-insert it.
If a particular media is causing the issue, ensure that the desired paper size matches the paper in the tray. The tray's side and rear paper guides should be resting lightly against the edges of the paper and not putting pressure on the sheets. Also make sure the paper stack height is below the maximum height indicated by the load line labels in the trays.