I recommend performing a reset of the printer. While the printer is on, unplug the power cord from the printer. While the power is off, press the power button 5 times. After 60 seconds plug the power cord back in and power on the printer.
If the error does not clear, your printer has experienced an internal hardware issue and would need to be replaced. You would qualify for the Canon upgrade program. This is for out of warranty units which have been diagnosed to require service or are incompatible with a new or upgraded system. This program allows you the opportunity to purchase a replacement product discounted from the list price. Free ground shipping is included with your purchase.
If you would like to take advantage of this offer, please call the Canon Sales Department at (866) 443-8002 mon-Sat, 9 AM to 9pm EST. Let them know you have been working with technical support and that the Canon Upgrade Program was offered.