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It's possible that turning the printer Off, doing an uninstall of the printer driver, then restarting your iMac computer, and then re-installing the printer driver, might help with the problem.
But some printers do that sort of thing by and by... except for the installing of the wrong printer driver, which can also produce this sort of 'sent page failure without reset'.
Go to the Printers list.
Select the printer there.
Use the - button to delete it.
Change the setting for Print Directly To Printer, if your printer's driver's settings have that setting.
That might help. Questionably, but it might.
Then I am out of options to suggest... either the router is 'flakey'/erratic, or the network adapter on the computer (unlikely, unless it also drops the internet connection often), or the printer's network adapter, unfortunately.
If the printer is on a network cable, try replacing that. It might doubtfully help.