You might be printing a file containing complex data/image which actully needs more memory & processing capabilities.
Please confirm if this happens with only a particular PDF file or with all PDF files.
Hope you have tried using Postscript drivers for printing PDF files, if not download & install it using following HP web link:
If you know that a particular page or group of pages contain complex data, then try to print those pages separate from the entire job. If these pages are captured/converted from another application/software, try printing them from their original (source) applications. These steps are to simplify complex jobs so as they could be processed by printer without any errors.
You may also choose to upgrade device firmware to obtain latest improvements/fixes: