Also had issue. Tried recompiling CUPS with zebraCupsDrivers_v2.zip.
Ended up with exactly the same issue "/usr/lib/cups/backend/lpd Failed"

Gave up and used netcat which almost worked.
Wrote a samll python prog to write directly to the socket. 
Works perfectly on zebra printer.

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https://bugs.launchpad.net/bugs/1155693

Title:
  Zebra printer not compatible with cups 1.5.3

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