Why is printer stuck on "aligning cartridge" message?

After replacing an ink cartridge, my printer will not move past the "aligning cartridge" screen. It never aligns the cartridge. I can get it to print by sending it documents from computer, but cannot scan or copy or navigate on the menu at all. I tried replacing new cartridges, unplugging the printer, turning off and on, but it always returns to the screen about aligning cartridges and never prints an alignment page. Help!

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