this occurs for me as well; disabling ipv6 broadcasting for avahi on the
host machine connected to the printer resolved the issue

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https://bugs.launchpad.net/bugs/1099184

Title:
  avahi publishes IPv6/IPv4 and ipp backend  in cups uses only IPv6

Status in “cups” package in Ubuntu:
  New

Bug description:
  lsb_release -rd
  Description:    Ubuntu 12.04.1 LTS
  Release:        12.04
  ---------------------------------
  avahi-daemon 0.6.30-5ubuntu2
  cups 1.5.3-0ubuntu6
  --------------------------------

  
  Avahi for  default publishes services also in IPv6 as in 
/etc/avahi/avahi-daemon.conf there is
  use-ipv6=yes

  At the same time services are listening on IPv4 addresses only.

  Cups is able to discover published printers via dnssd protocol but its
  ipp backend prints only on the IPv6 resolved address which does not
  answer and it does not try the IPv4 address.

  ------------------------------------
  Excerpt from "avahi-browse -a -t -r"  to show the IPv6 and IPv4 addresses

  +  wlan0 IPv6 Hewlett-Packard HP LaserJet 1100 @ hjemme     Internet Printer  
   local
  +  wlan0 IPv4 Hewlett-Packard HP LaserJet 1100 @ hjemme     Internet Printer  
   local
  +  wlan0 IPv6 MobilIgor5a [00:26:82:9d:b9:6d]               Workstation       
   local
  +  wlan0 IPv6 hjemme [00:40:f4:ff:55:32]                    Workstation       
   local

  [....]

  =  wlan0 IPv6 Hewlett-Packard HP LaserJet 1100 @ hjemme     Internet Printer  
   local
     hostname = [hjemme.local]
     address = [fe80::240:f4ff:feff:5532]
     port = [631]
     txt = ["printer-type=0x900E" "printer-state=3" "Scan=F" "Sort=F" "Bind=F" 
"Punch=F" "Collate=F" "Copies=F" "Staple=F" "Duplex=F" "Color=T" "Fax=F" 
"Binary=F" "Transparent=F" "TLS=1.2" 
"UUID=1577ef95-eecb-3eae-6d02-aa29003eb546" "URF=DM3" 
"pdl=application/octet-stream,application/pdf,application/postscript,image/jpeg,image/png,image/urf"
 "product=(HP LaserJet 1100xi Printer)" "priority=0" "note=hjemme" 
"adminurl=http://hjemme.local:631/printers/Hewlett-Packard-HP-LaserJet-1100"; 
"ty=HP LaserJet 1100, hpcups 3.12.2" 
"rp=printers/Hewlett-Packard-HP-LaserJet-1100" "qtotal=1" "txtvers=1"]
  =  wlan0 IPv6 hjemme                                        Remote Disk 
Management local
     hostname = [hjemme.local]
     address = [fe80::240:f4ff:feff:5532]
     port = [22]
     txt = []
  =  wlan0 IPv6 hjemme [00:40:f4:ff:55:32]                    Workstation       
   local
     hostname = [hjemme.local]
     address = [fe80::240:f4ff:feff:5532]
     port = [9]
     txt = []
  =  wlan0 IPv4 Hewlett-Packard HP LaserJet 1100 @ hjemme     Internet Printer  
   local
     hostname = [hjemme.local]
     address = [192.168.1.2]
     port = [631]
     txt = ["printer-type=0x900E" "printer-state=3" "Scan=F" "Sort=F" "Bind=F" 
"Punch=F" "Collate=F" "Copies=F" "Staple=F" "Duplex=F" "Color=T" "Fax=F" 
"Binary=F" "Transparent=F" "TLS=1.2" 
"UUID=1577ef95-eecb-3eae-6d02-aa29003eb546" "URF=DM3" 
"pdl=application/octet-stream,application/pdf,application/postscript,image/jpeg,image/png,image/urf"
 "product=(HP LaserJet 1100xi Printer)" "priority=0" "note=hjemme" 
"adminurl=http://hjemme.local:631/printers/Hewlett-Packard-HP-LaserJet-1100"; 
"ty=HP LaserJet 1100, hpcups 3.12.2" 
"rp=printers/Hewlett-Packard-HP-LaserJet-1100" "qtotal=1" "txtvers=1"]

  ----------------
  Excerpt from /var/log/cups/error_log to show that only IPv6 address is tried

  I [13/Jan/2013:18:02:55 +0100] [Job 61] Started backend 
/usr/lib/cups/backend/dnssd (PID 7179)
  D [13/Jan/2013:18:02:55 +0100] [Job 61] Resolving "Hewlett-Packard HP 
LaserJet 1100 @ hjemme._ipp._tcp.local"...
  D [13/Jan/2013:18:02:55 +0100] [Job 61] STATE: +connecting-to-device
  D [13/Jan/2013:18:02:55 +0100] [Job 61] Resolving "Hewlett-Packard HP 
LaserJet 1100 @ hjemme", regtype="_ipp._tcp", domain="local."...
  D [13/Jan/2013:18:02:55 +0100] [Job 61] PPD uses qualifier 'Gray.Plain.'
  D [13/Jan/2013:18:02:55 +0100] [Job 61] Calling 
FindDeviceById(LaserJet_1100xi_Printer)
  D [13/Jan/2013:18:02:55 +0100] [Job 61] Failed to send: 
org.freedesktop.ColorManager.Failed:device id 'LaserJet_1100xi_Printer' does 
not exists
  D [13/Jan/2013:18:02:55 +0100] [Job 61] Failed to get profile filename!
  I [13/Jan/2013:18:02:55 +0100] [Job 61] no profiles specified in PPD
  D [13/Jan/2013:18:02:55 +0100] [Job 61] Set job-printer-state-message to "no 
profiles specified in PPD", current level=INFO
  D [13/Jan/2013:18:02:55 +0100] [Job 61] Ghostscript command line: /usr/bin/gs 
-dQUIET -dPARANOIDSAFER -dNOPAUSE -dBATCH -dNOINTERPOLATE -sDEVICE=cups 
-sstdout=%stderr -sOutputFile=%stdout -sMediaType=Plain -sOutputType=0 
-r600x600 -dMediaPosition=7 -dDEVICEWIDTHPOINTS=595 -dDEVICEHEIGHTPOINTS=841 
-dcupsBitsPerColor=1 -dcupsColorOrder=0 -dcupsColorSpace=3 -dcupsRowCount=1 
-dcupsRowStep=2 -dcupsInteger0=26 -scupsPageSizeName=A4 -I/usr/share/cups/fonts 
-c -f -_
  D [13/Jan/2013:18:02:55 +0100] [Job 61] 
envp[0]="CUPS_CACHEDIR=/var/cache/cups"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] envp[1]="CUPS_DATADIR=/usr/share/cups"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] 
envp[2]="CUPS_DOCROOT=/usr/share/cups/doc-root"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] 
envp[3]="CUPS_FONTPATH=/usr/share/cups/fonts"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] 
envp[4]="CUPS_REQUESTROOT=/var/spool/cups"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] envp[5]="CUPS_SERVERBIN=/usr/lib/cups"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] envp[6]="CUPS_SERVERROOT=/etc/cups"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] envp[7]="CUPS_STATEDIR=/var/run/cups"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] envp[8]="HOME=/var/spool/cups/tmp"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] 
envp[9]="PATH=/usr/lib/cups/filter:/usr/bin:/usr/sbin:/bin:/usr/bin"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] 
envp[10]="SERVER_ADMIN=root@MobilIgor5a"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] envp[11]="SOFTWARE=CUPS/1.5.3"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] envp[12]="USER=root"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] 
envp[13]="CUPS_SERVER=/var/run/cups/cups.sock"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] envp[14]="CUPS_ENCRYPTION=IfRequested"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] envp[15]="IPP_PORT=631"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] envp[16]="CHARSET=utf-8"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] envp[17]="LANG=en_US.UTF-8"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] 
envp[18]="PPD=/etc/cups/ppd/LaserJet_1100xi_Printer.ppd"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] envp[19]="RIP_MAX_CACHE=128m"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] 
envp[20]="CONTENT_TYPE=application/pdf"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] 
envp[21]="DEVICE_URI=dnssd://Hewlett-Packard%20HP%20LaserJet%201100%20%40%20hjemme._ipp._tcp.local/cups"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] 
envp[22]="PRINTER_INFO=LaserJet_1100xi_Printer"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] 
envp[23]="PRINTER_LOCATION=MobilIgor5a"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] 
envp[24]="PRINTER=LaserJet_1100xi_Printer"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] envp[25]="PRINTER_STATE_REASONS=none"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] envp[26]="CUPS_FILETYPE=document"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] 
envp[27]="FINAL_CONTENT_TYPE=printer/LaserJet_1100xi_Printer"
  D [13/Jan/2013:18:02:55 +0100] [Job 61] envp[28]="AUTH_INFO_REQUIRED=none"
  I [13/Jan/2013:18:02:55 +0100] [Job 61] Start rendering...
  D [13/Jan/2013:18:02:55 +0100] [Job 61] Set job-printer-state-message to 
"Start rendering...", current level=INFO
  I [13/Jan/2013:18:02:55 +0100] [Job 61] Processing page 1...
  D [13/Jan/2013:18:02:55 +0100] [Job 61] Set job-printer-state-message to 
"Processing page 1...", current level=INFO
  D [13/Jan/2013:18:02:55 +0100] [Job 61] Resolved as 
"ipp://[fe80::240:f4ff:feff:5532]:631/printers/Hewlett-Packard-HP-LaserJet-1100"...
  D [13/Jan/2013:18:02:55 +0100] [Job 61] STATE: 
-connecting-to-device,offline-report
  D [13/Jan/2013:18:02:55 +0100] [Job 61] Executing backend 
"/usr/lib/cups/backend/ipp"...
  D [13/Jan/2013:18:02:55 +0100] [Job 61] Sending stdin for job...
  D [13/Jan/2013:18:02:55 +0100] [Job 61] update_reasons(attr=0(), 
s="+connecting-to-device")
  d [13/Jan/2013:18:02:55 +0100] [Job 61] op='+', new_reasons=1, state_reasons=1
  D [13/Jan/2013:18:02:55 +0100] [Job 61] STATE: +connecting-to-device
  D [13/Jan/2013:18:02:55 +0100] [Job 61] Looking up 
"fe80::240:f4ff:feff:5532"...
  D [13/Jan/2013:18:02:55 +0100] [Job 61] PAGE: 1 1
  D [13/Jan/2013:18:02:57 +0100] [Job 61] prnt/hpcups/HPCupsFilter.cpp 686: 
First raster data plane..DEBUG2: hrDeviceDesc="Unknown"
  D [13/Jan/2013:18:02:59 +0100] [Job 61] prtGeneralCurrentLocalization type is 
0, expected 2!
  D [13/Jan/2013:18:02:59 +0100] [Job 61] backendWaitLoop(snmp_fd=6, 
addr=0x7f9b29cfde68, side_cb=0x7f9b28cb8040)
  D [13/Jan/2013:18:02:59 +0100] [Job 61] Connecting to 
fe80::240:f4ff:feff:5532:631
  I [13/Jan/2013:18:02:59 +0100] [Job 61] Connecting to printer.
  D [13/Jan/2013:18:02:59 +0100] [Job 61] Set job-printer-state-message to 
"Connecting to printer.", current level=INFO
  D [13/Jan/2013:18:02:59 +0100] [Job 61] Connection error: Invalid argument
  E [13/Jan/2013:18:02:59 +0100] [Job 61] The printer is not responding.
  D [13/Jan/2013:18:02:59 +0100] [Job 61] Set job-printer-state-message to "The 
printer is not responding.", current level=ERROR

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