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Firefox isn't supposed to communicate directly with cups, that's why there is a print command specified. Firefox calls the specified print command and pipes its output through that. Therefor you need to make sure that print command is working correctly.
If you know cups is working, you need to test the command you have listed in your firefox print command. In this case, lpr-cups as you noted in your first message.
just do 'lpr-cups xyz.txt' where xyz.txt is an arbitrary text file you create.
If this works, then I am out of ideas! But I am going to guess that it will fail. Additionally I am guessing that it'll fail because the file can't be found, either it's not on your path or doesn't exist, in which case you should probably change it (in firefox preferences) to lpr instead of lpr-cups.
That said, you can also test to determine whether the executable exists by doing 'locate lpr-cups' which will give you a list of files with that string in their path.