I have found that Paper Jam error messages can sometimes be caused by the most simplest things, and not a very noticeable sheet of paper causing a jam.
Usually it means a case of looking inside the printer for small objects, small piece of torn paper left behind from a previous problem, dust on sensor or arms etc. Do not forget to remove any electrical power to the printer, before tampering inside.
I haven't looked, but a Google or YouTube search, might provide further advice on printer service or repair on this paper jam error message problem?.
I agree with comments made by spuds - I once spent 2 days with the same problem before finding the smallest piece of torn paper jammed in the roller mechanism - with the aid of a torch and the printer upside down! It took me ages to extract it.