Check the little black piece of plastic that senses the printed page exiting the machine. Our sensor was stuck and I was getting the same message (an similar Ricoh product). When I gently reset the black piece to center, moving freely, printing worked again. I think the sensor got jammed up when we were trying to remove a bad paper misfeed.
Ricoh manuals very confusing on this error message. They refer to standard tray, tray one, etc. without being clear whether it's a paper feed tray or the so-called "standard OUTPUT tray." The output is not really a tray, it's just the depression where your sheet lands after printing. I wrenched on the paper feed trays and their settings for an hour before I figured out they meant OUTPUT.
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