Reedler, if you're still following this, or Xerox were you every able to find a solution for this. We've found we're unable to print with lpr from Windows & RHEL do only our Xerox 6180 MFP units with the same error you're getting.
Ok that makes a difference. For the Phaser 6180MFP please take a look at this solution and see if the correct queue name will solve the problem.
Thank you for using the Support Forum. You do not mention which product you are using but there are a couple of things you can check. Please make sure you are using "lp" (that is lower case "LP") as the queue name and make sure you are using port 515. If that does not help please let us know the specific machine model.
Using the application teemtalk, I setup the printer IP in the LPR setup. When I print to this printer in the job log I get the error below. I have set this up before with other brand printers without an issues. Any ideas much appreciated.