Printing to local printer from remote network

I have been having problems trying to access my local printer when I am logged on to my main office network. We normally log on using Citrix. However owing to the problems I decided to log on using XP remote connection, I can access my server without any problems and any applications but whenever I try to print the following message appears

An error has occurred in the cript on this page
Line 1174
Char 1
Error Unspecified Error
Code 0
URLres//C:\WINNT\System32\shdoclc.dll/preview.dlg

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I am using Windows XP Home edition and my printer is LEXMARK 3100 Series