"The Adobe Print Engine has failed to output your data due to an unknown problem"
When printing my cs5 document, the default printer changes to a postscript file. When I export the file into a pdf file it will eventually print but takes several minutes.
Operating System? What printer were you trying to use?
Is it working correctly with other programs? Can you print from ID to other printers?
That printer appears to need a RIP, either built-in or as an add-on. IS that properly configured for Windows 7 and ID? Have you contacted Xerox?
Typically Xerox printers work fine with ID (I've got a Phaser 7800 that works flawlessly), but ID is not know for its printing abilities, and there are plenty of cases where InDesign and the printer driver just don't get along. HP and Ricoh models top the list.
This sounds like a driver issue, and if yo have a contract with Xerox I'd have them send a tech to see if they can figure out what needs to change, or export PDF and and print that instead -- that's the usual workaround for print failures from ID.