I just put 2 new ink cartridges in my Canon 210

The manufacturers removed the option long time ago due to the printheads and muzzles which get screwed up while printing with one or more empty cartridges. here are some explanations and tutorials on how to actually print with an empty cartridge:
How to print without black ink

Once a cartridge is empty the printer will not print untill a new cartridge is put in, just replace the empty black cartridge

Hi

if the black cartridge is genuine and new...take it back. It is faulty.
If the cartridge is refilled or compatible...hold the STOP button for 6+ seconds to disable ink monitoring. This should clear the 'empty' error and the printer should work again.

good luck!

http://www.lexmark.com/publications/pdfs/2007/2500/v3709407_en.pdf
Page 50 has full instructions.

With this type of printer you need to have a full black cartridge to print black and white. The new Canon BCI-24 black cartridge from Staples is only $8.29. These cartridges are even cheaper from refillers. I recommend Cartridge World or Office Depot for printer cartridge refills.

yes you need to install all cartridge before printing any page ...I have also this model...but u need to install all 4 cartdge. before printing any page wheather color or blacknwhite..

go to control panel
printers and faxes than right click on the driver for the printer and click on properties ...
and you will find the option to print in gray scale

i have an mp170 all in one and when you fill the cartriges they dont show up as full cannon put a chip in the cartridge to con people into buying new ones try siting the cartridges in warm water for a few hours then blot the cartridge with tisue paper if it dont blot out the ink the cartride is finnished and you need a new one .To align the cartridge you flick through the menu on the printer not pc screen look for alignment page print this off then you have to pick the dark boxes on the sheet shade the bit next to it and put on your scan bed and click ok it should scan the sheet and reset the alignment

I had removed and reinstalled the empty 3e cartridge. Sorry for the Confusion. I hadn't put a new 3e cartrige in until today. Them I ran " deep clean" twice. The printer works fine. I still don't understand why the printer wouldn't print color, when I was had set the printer to print in color when my 3e cartridge was empty and all colors including the 6 black showed full.

Mostly it connot print w/out color ink if when printer message empty / sometimes the printer no message while ink was empty still black can print. it depends to the chip .