Some printer communications are over UDP using raw mode. If the printer sends too many UDP packets within a set time period, the UDP Flood Attack detection is triggered.
To resolve the issue you will need to disable Denial of Service detection within your Instrusion Prevention policy or you will need to add the printer's IP address in "Excluded Hosts."
To add the printer to "Excluded Hosts":
1. Open your Intrusion Prevention Policy.
2. Choose to Settings on the left.
3. Check the box for Enable excluded hosts and then click the Excluded Hosts... button.
4. Add the IP address of your printer and choose Okay