I have found a workaround for this problem. This problem stems from
another issue. USB devices fail to work after a hibernate. The
workaround is as follows:

1. Cancel the print job that fails to print
2. Shutdown the printer
3. Remove and reinstall USB modules
~$ sudo rmmod usbhid xpad ehci_hcd ohci_hdc usbcore
ERROR: Module usbhid does not exist in /proc/modules
ERROR: Module xpad does not exist in /proc/modules
ERROR: Module ohci_hdc does not exist in /proc/modules
ERROR: Module usbcore is in use by ohci_hcd
~$ sudo modprobe usbcore usbhid xpad ehci_hcd ohci_hcd

4. Bring up the printer
5. Retry the print job

-- 
Printer no longer works after Suspend
https://bugs.launchpad.net/bugs/76232
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