Error 6a81

This error indicates that something is blocking the carriage from moving (the carriage is the part of the printer that holds the ink cartridges)

This can be from a piece of paper being caught in the carriage path, or a mechanical issue like a broken gear

First, sharply unplug the printer while it is powered on, then double check these instructions for removing all paper jams (click below):

Especially look inside the printer where the carriage moves back and forth to make sure nothing is jammed in there and is blocking the path:

Remove all paper from the paper feed and blow it out with compressed air a few times > With a flashlight look in the paper feed

Make sure there is no foreign object like a paper clip in there
While the printer is still off, press and hold the power button for 3 minutes > Load 1 sheet of paper into the paper tray
Finally, while holding down the stop/cancel button, plug the printer back in, and power on the printer if it doesn't do so automatically. Now see if the error is gone.

Turn the printer off, then press and hold all 4 of these buttons together

Power
Copy (may just be a black diamond with line through the middle)
Cancel (may just be red circle with downward triangle inside)
OK

Keep them held down for about 10 seconds
Let go of the power button, but still hold the other 3 buttons
After a few more seconds, go ahead and release all the buttons

If the error is not cleared, please take another look inside the printer with a flashlight, especially in the purge unit area where the printhead parks when shut down, is there anything you see that is preventing the printhead from moving all the way to the right of the printer?

If you can move the printhead carriage freely back and forth on the rail, but you are still getting the error, then you will need to replace the printhead. However, if it won't budge, and/or continues to stay seated when it should move over automatically, then there is a broken gear or the carriage motor/assembly has become defective. Either way, if the warranty is out, it may be more cost effective to buy a new printer, but you may certainly call 1-800-652-2666 first to get a quote on the repairs to make a final decision.