Disconnect the printer from the network.
If on wired network: Unplug the Ethernet cable from the back of the printer.
If on wireless network: Power off the router.
Turn off the printer, wait for 30 seconds, and turn on the printer.
If the printer is in ready state, disable the IPv6 feature from the control panel as follows:
Go to Setup, then Network Setup, and then Network Services.
Tap IPv6, and then Off.
Turn off the printer, wait for 30 seconds.
Turn on with the network connection enabled.
If the error message persists, contact HP Customer Support