Run "man escputil" -- it starts as follows
Quote:
escputil accepts the following options:
-P, --printer-name=printer
Specify the name of the printer to operate on. The default is
the default system printer.
-r, --raw-device=device
Specify the name of the device to write to directly rather than
going through a printer queue.
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As you didn't specify either, escputil sent the appropriate job through lpr, hoping that this would go to the default printer. As the error message shows, you don't have a default printer (or "destination") set up.
For head cleaning, I'd recommend always giving an explicit -P or -r argument.
In general, designating a default printer is a good idea. Most printing tasks will go more smoothly because they won't require the "-P myprinter" option.
/Quigi