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

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