Does using a non-HP or refilled ink cartridge void the printer's warranty?

Using a non-HP or refilled cartridge does not automatically void the printer warranty or any HP support contract. However, if printer failure or damage is attributable to the use of a non-HP cartridge, a refilled cartridge, or an expired ink cartridge, HP will charge its standard time and materials fees to service the printer for that specific failure or damage. (Page 3)