Typically this error occurs if you are using Internet Explorer 7 or Windows Vista.
There are two possible solutions.
Solution 1 - Install the most recent Adobe Acrobat update.
Solution 2 - Disable Protected Mode in Internet Explorer.
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On the bottom left go to the Start menu.
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Click on Control Panel and select Internet Options.
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Go to the Security tab.
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Click to clear box for Enable Protected Mode for the security zone covered by the page you are printing.
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Close all Internet Explorer windows.
Note: In Windows Vista and Windows 7, Internet Explorer includes a 'protected mode'. In protected mode, the Internet Explorer process runs with Low rights, even if the logged in user is an administrator. This can deny Acrobat access to files it needs to access. This issue is addressed in Acrobat 8.1 and higher.