Canon imageRUNNER 6570 Reference Manual page 258

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Specifying Common Settings
Select [On] or [Off] ➞ press [OK].
If Different Paper Sizes for the Output Tray is set to 'Off', and the message
<Remove the paper from the output tray.> is displayed, printing stops. Remove
all of the paper from the output tray, and printing resumes.
The selected mode is set.
Press [Done] repeatedly until the Basic Features screen
appears.