We also need to know your version of LR, your OS as well as the printer type to be able to help.
Lightroom 4, Windows 7, Canon Pixma MX922
Make sure to use the latest driver for your printer from here: https://www.usa.canon.com/internet/portal/us/home/support/details/printers/inkjet-multifun ction/mx-series-inkjet/mx922
I'd reinstall the driver anyway.
Also make sure you use the latest release of LR4, which is LR4.4.1 and can be downloaded from here: Install Photoshop Lightroom
If this all does not help:
Are you able to print from any other application?
Please post a screen-shot where the message is shown.
The problem, as usual, turned out to be "operator error". For some reason, Lightroom was attempting to print from an old HP printer which is no longer connected, rather than from the newer Canon printer which I have been using for six months. Since I had been printing from Lightroom to the Canon printer for several months, I have no idea how it changed back to the HP. I have corrected the problem and, if it recurs, I know how to fix it. Thanks for your suggestions.
I'm going to resurrect this thread because I'm having the same issue. I'm on Windows 10 64 bit, Lightroom CC, and a Canon Pro 2000. I get the error seemingly at random. I have deleted all my templates, and this improved things for awhile. It happens more often than not with a cut sheet and not really on roll paper. In order to get a job started, I finagle with settings, try different buttons, change something in page set up, change the usb port that the printer is plugged into, click on print or printer... buttons to get stated. I'm starting to become superstitious because the same thing hasn't fixed it twice in a row. My driver is up to date and Lightroom version are up to date, and I've tried uninstalling and reinstalling the drivers. Any ideas?