It could be really frustrating when canon printer in error state. However, you have nothing to worry about as we are here to save the day. The major reasons behind this error state could be either a network problem or outdated drivers.
The first step that you should follow is to check the connection between the system and the printer. Make sure that the USB cable is connected properly from both ends and it is not defected.
Once you have made sure that the connection is fine then you should check for the latest updates of the drivers that you are using. You can visit the official website of canon to see if they have released an update or not.
If you are using the latest version then try to uninstall and reinstall the drivers. Once you do it, restart your system and your canon printer in error state issue must have resolved by now.