What is the repair for error message URF Error- URFPWG Decoding fail?

Hi, rwgeorge2.

Thank you for visiting Apple Support Communities.

I understand that you are receiving an error when attempting to print. I would start with restarting your iOS devices, your printer and router. Once this is done, test the results. If the issue persists, there are some helpful troubleshooting steps in the article below.

If you're unable to print

Check these things if you are unable to print, or if you see the message "No AirPrint Printers Found."

Make sure your printer has paper, and enough ink or toner installed.

Make sure your printer is connected to the same network as your Mac or iOS device.

Make sure your printer has power and is turned on. Try turning your printer off and then back on again to see if it resolves the issue.

Check to see if your printer has any error lights or indicators. Check the documentation that came with your printer to clear any errors displayed.

Check with your printer's manufacturer to see if any firmware updates are available for your printer. Check your printer's documentation or contact the printer vendor for more information. A firmware update may be available, even if you just bought your printer.

About AirPrint

http://support.apple.com/en-us/HT201311

-Jason H.