Why does HP Officejet 5740 printer always tell me Cartridge Problem?

Why does my HP Officejet 5740 printer always tell me "Cartridge Problem: Remove and reinstall the black cartridge, make sure it is installed correctly and press OK"? I've tried removing and reinstalling the cartridge, I've tried both original and compatible cartridges, I've tried unplugging and resetting the printer, but I still get the same message. What can I do?