The 610000 error often hides a dirty scanner lock or encoder strip. HP doesn’t tell you this because they want you to call support.
Reinsert them one by one, ensuring they "click" firmly into place.
If your printer is over three years old and you hear grinding gears, it’s time to recycle it and buy a new one. HP printers are designed for affordability, not repairability—and the 610000 error is the most common signal that its mechanical life has ended.