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To start with, whats the full name brand and model of your printer?
Also, did this printer work with your mac since you installed El Capitan, or did it used to work with your mac?
I sent a reply to this question yesterday, It doesnt seem that it went through.
To start with, if you are getting that error are you printing PDF files? If so, are you using preview, or ado be acrobat or some other program when you print them?
Im assuming that if you try to print a word document or picture that it will print properly?