I searched the knowledge-base here and found some information related to that message:
PDF direct printing can be used to send a PDF file to the printer without having to open and view the file on a computer.
NOTE: PDF Direct Printing may not be successful if the printer does not contain a hard drive. If the printer does have a hard drive and you receive an error message stating, "This printer is not configured to support direct PDF printing" there may be a code mismatch between the hard drive and the printer firmware. If this is the case, click on the [Drivers and Downloads] link under Related Content, download, and send the Firmware Upgrade file to the printer. Instructions to send the file to the printer are provided with the file package.
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when attempting to print a PDF document directly to the printer, using either 'lp' or 'lpr' commands, i receive the following error:
this printer is not configured to support direct PDF printing
Please use Adobe Acrobat to print your PDF file.
Is this a configuration issue or is it a specific limitation of the printer.
thanks in advance