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The colors in maps printed from ArcMap are much darker than how they look on the screen. This can happen even when printing with ArcPress and the HP Universal driver at version 9.2 and above, the HP RTL RGB driver at versions 9.0 and 9.1, and the HP RTL Device Dithered RGB driver at versions 8.x.
While one course of action is to calibrate the monitor to the printer using color profiles, Esri software does not support the use of ICC color profiles.
Furthermore, HP DesignJet 1000 series printers generally print darker than other four-color printers.
The HP DesignJet 1000 series printers include the DesignJet 1050C, DesignJet 1050C Plus, DesignJet 1055CM and DesignJet 1055CM Plus.
Color settings are available in HP's DesignJet printer drivers, which can greatly improve the printed color. To determine which printer is installed: Navigate to Start > Control Panel > Printers. Right-click on the 1000 series printer and select 'Properties'. On the first tab, look for 'Model.' If it says something like 'HP DesignJet 1055CM PS3', then it's a PostScript driver. If it says something like 'HP DesignJet 1055CM by HP', then it's the native driver.
If the PostScript printer driver is currently installed, download and install HP's native driver as it has a few more options for color control. See the associated link in the Related Information section for HP's DesignJet Driver Downloads Web site.