I received the same error on Hardy and Intrepid when using the "HP
LaserJet 4000 Series Postscript [en] (recommended)" driver.   With
Intrepid, changing the driver to "HP LaserJet 4000 series Foomatic/hpijs
[en]" resulted in a test print without error.

ii  foomatic-db-hpijs     20080915-0ubuntu1     OpenPrinting printer support - 
database for HPIJS driver
ii  hpijs                 2.8.7-0ubuntu6        HP Linux Printing and Imaging - 
gs IJS driver (hpijs)
ii  hpijs-ppds            2.8.7-0ubuntu6        HP Linux Printing and Imaging - 
HPIJS PPD files
ii  hplip                 2.8.7-0ubuntu6        HP Linux Printing and Imaging 
System (HPLIP)
ii  hplip-data            2.8.7-0ubuntu6        HP Linux Printing and Imaging - 
data files
ii  hplip-gui             2.8.7-0ubuntu6        HP Linux Printing and Imaging - 
GUI utilities

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Error while printing with HP Laserjet: 40 EIO Transmission Error
https://bugs.launchpad.net/bugs/229981
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