Error found when printing to a network printer

Help! I have been getting this extremely annoying problem for two months now...at seemingly random times the users on my network have trouble printing to various network printers. Two HP's and a Canon have shown this problem.

The print traffic will be normal and then something will happen that causes an error that can't be fixed without restarting the affect printer. Sometimes it will last for more then 30min before the error situation disappears, other times a simple reset will work immediately. I noticed that in this error state, no print job will finish loading into the spooler. Even after I cancel all print jobs, the error state won't go away until I reset the printer. This happens on both old printers and a less-than-a-month-old brand new printer.

I get the message "There was an error found when printing document to IP_10_10_5_x. Do you wish to retry or cancel the job?" I can't find anything on this on google - at least something that pertains to this specific problem.

Really appreciate any feedback you have or can think of!
Steve