The reasons for this error can be different every time.
Step 1 : Check thoroughly for even a small piece of paper might be stucked in the printer.
Step 2 : Clean some of the gears inside the printer. After some years they need cleaning .
Step 3 : Some times there is an issue with a small elecromagnet inside the printer that is used to track the paper inside . For this step you might need to give the printer for repair. It still worth the money.