This error is caused by printing certain PDF files that contain a code that is not compatible with Canon's printer or printer driver. This problem can occur with all PDF files, but it is more common when printing directly from the Internet browser (Chrome, Safari, Edge, ...).
How to solve the problem:
Turn off the Canon printer and then back on with the power button on the machine. This will erase the corrupt PDF from the memory of the machine and allow other documents to be printed.