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HP laserjet 4100

I have a laserjet 4100 printer and I've changed machines to Windows 7. This particular printer has a parallel port and nothing else.  I have it hooked up to an XP machine and it works fine.  My issue is I'm trying to share this printer and allow my Windows 7 machines to print to it - however, it can't find a driver?  I've downloaded and installed the universal print driver on the Windows 7 machines but that' not working either.  What can I do?
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Ray
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I simple fix is to install another HP Print driver that windows 7 has available.  Try choosing a simple laserjet printer driver.  Advanced features not withstanding, it should work just fine for basic text and graphics.
Windows 7 natively supports the 4100 with both HP and Microsoft drivers, so you didn't need to download the universal one.

Have you successfully shared the printer on the XP machine (it helps to keep the printer sharename short and free of symbols), and are both machines in the same workgroup? If so, use the Add Printer applet in Devices and Printers, clicking on the "Add a network, wireless, or Bluetooth printer" option. Stop the search and click on "The printer I want isn't listed". Make sure the radio button is in "Select a shared printer by name", and either browse for the printer or type in the UNC pathname as per the example given, and click Next. You will then be presented with the list of native Windows 7 printer drivers. Select HP in the left pane, and scroll down until you find the Laserjet 4100 on the right. Pick the driver you want and click Next, and follow the prompts to the end. If the installation doesn't throw any errors that should be it.
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If you cannot see the driver, click the Windows Update button when asked for the printer model. It should then show up.
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The printer is shared - I will try to install the universal printer driver on the windows machine.  Hopefully that fixes it.  Thanks everyone.
on the printer install you manually select the HP - Laserjet 4100 PCL6 driver from the list.

if you need backwards compatibility you can also use the HP 3050 PCL5 driver

are you sharing between from windows 7 to XP systems? or just between windows 7 systems?
I misread your question. The easiest way to have a win7 PC connect via xp is to first install the driver on the win7 pc as a local printer. You can install it using LPT1 as the port. Then change the port to the xp connection and it should work.
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I've added a parallel port to the PC and that allowed printing for everyone.