How do you know when the ink cartridge of the printer is low on ink?

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Lately, i’ve tried to get some ink cartridges refilled. unfortunately, the store said that the cartridges were completely dry. the store says it can only refill the cartridges if they still have a little ink left. i don’t know how to know when the cartridge has a little ink left. does the computer tell you or do you have to open the printer up once in a while.
If the computer tells you, how does it tell you?
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the software that came on the CD for the printer if installed tells you the inks levels.
i would assume that when your prints first start getting crappy it’s a good time to take the cartridge in. there’s obviously still ink in them at that point
if you are using any up to date printer such as hp at the hp solution center it will tell you how much ink is left. or on most of the newer printers it says right on them if the ink is low or levels