Cannot print to Canon MF4140 with latest 2.21 driver

After I add a printer (I choose Canon MF4100 Series UFRII LT (UK) driver) when I try to print I get UFRII driver error -50.

It is unusual that you are getting this error with a direct USB connection. You could try another USB cable. You also need to ensure you select the correct queue, as the machine can show the Fax queue in the Add Printer view.
One last suggestion, when you do add the printer via USB, the Mac sometimes incorrectly shows it has selected the UFR2 driver. With this selected you will get an error when you print. So when you add, make sure you change the Print Using menu to 'Select printer software' and then search for the MF4140 in the printer model list. With this MF4140 selected open Options & Supplies and select the Utility tab and then click Utility. This will open the UFR2 Printmonitor app and it should connect to the MF4140 without error. If it does, close the Printmonitor and then try printing.
Hope this helps.

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