If anyone still has this problem I found the solution in Ubuntu forums (but 
unfortunately didn't take their name- post appeared during 2006 I think).
The problem is that /dev/usb/lp0 does not have rw permission for logged-on user.

The solution starts by editing /etc/udev/rules.d/permissions.rules.

Under # Printers and Parallel devices, one line must be changed:
BUS=="usb", KERNEL=="lp[0-9]", GROUP="lp"
becomes
BUS=="usb", KERNEL=="lp[0-9]", GROUP="lp", MODE="0666"

It is possible you also need to create the lp group (I did) and put
yourself into the lp group.

After this the device is accessible permanently.
Hope this helps someone - and gets the solution into the next release. Why do 
only a few people post the problem?

-- 
7.10 /usr/lib/cups/backend/hal failed
https://bugs.launchpad.net/bugs/174403
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