It's probably bug #1630063. The system seems to lock up because the
keyboard and/or mouse are plugged into the same USB hub as the printer.
If you can plug them differently, only the printer will lock up. Running
"lsusb" in a terminal will show which hub the devices are connected to.
If you can still type after a lockup, then the typing "dmesg" in a
terminal may show ohci-pci errors.

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https://bugs.launchpad.net/bugs/1635005

Title:
  xubuntu 16.10 freezes when trying to print

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