We are sorry for the trouble. As described you are unable to print PDFs from Acrobat and getting the above error message.
Would you mind sharing the workflow/steps you are doing to print the PDF file?
Is this a behavior with a particular PDF file or with all the PDFs? Please try with a different PDF file and check.
What is the make and model of the Printer? Please check for any missing/pending update for printer driver and firm ware and try updating it and check.
Your printer is reporting a problem with the PostScript stream that the printer driver produced. What you can try is bring up the print dialog, click on the "Advanced" button and then modify the "PostScript Options" at the top of the dialog.
Also, please try to print the PDF as image and see if that works for you. Go to Print > Advanced > Print as image.