Looking at the brochure/specifications for this printer, the Postscript kit is optional. So if you don't have this kit and you are using a Postscript driver on the Mac, then this could be the reason for this error.
The brochure also states that PCL is standard. So as a test, you could remove the printer from Printers & Scanners and create a new one, this time selecting the Generic PCL Laser driver included with the OS. Then see if you can print without the same error.
If the copier does have the optional PS kit then the error could be due to the protocol you selected when creating the printer. Some devices don't work with IPP, which is the default IP protocol set on the Mac. I would suggest you create the print queue using the HP Jetdirect-Socket protocol.
One other possible cause for the error is that the copier has some form of copy/print control enabled, but you have not set a supporting ID/PIN in the driver.