Interesting...I haven't heard of that error before.
I successfully get PDF every time with the settings I've written up here:
Let me know if your solution is something that's not covered in my post and I'll update it.
It sounds like you need this portion of the post:
Make sure File > Print Setup is using the Adobe PDF printer driver. Other drivers, especially non-PostScript drivers will meet with mixed results. Select the Properties button to address font handling
RECOMMENDATION: Use SetPrint at sundorn.com to set your print driver to Adobe PDF automatically. This plugin only affects FrameMaker, not your other Windows applications.
These other settings are all within the PDF Setup dialog box. Get there from the File > Print Setup or the Format > Document >PDF Setup options
Deselect the Rely on system fonts only; do not use document fonts option.