I open the pdf and enter the password which opens the document. When I try to print the document it asks me to re-enter password which I do but just blank again with the same message. Printers have no passwords set up.
You need to contact the creator of the PDF and ask them to remove the printing password restriction, or disclose the password that is required to unlock the printing and editing, OR, modify the restriction to allow printing but not editing.
The password to open a PDF in Acrobat is different from the password that restricts the editing and printing preferences.