If you receive the subject message but you know the appropriate printer driver is installed for downloading, you probably have a permissions problem on the %SystemRoot%\System32\Spool\Drivers folder or subfolders and/or the permissions on the printer share are incorrect.
The printer share must offer Read permissions (the default is Everyone).
The default NTFS permissions for the %SystemRoot%\System32\Drivers (and subfolders) are:
Administrators - Full Control
Creator/Owner - Full Control
Everyone - Read (RX)
Server Operators - Full Control
System - Full Control