You'll only get PCL XL errors when you are using a PCL6 driver, or one of the 'host-based' drivers which uses a stripped down variant of PCL XL as the basis of the host-based language (e.g. JetReady).
If you switch to use of a different Page Description Language (e.g. PCL5 or PostScript), then you won't get PCL XL errors but (assuming that the target device supports the chosen PDL) you may get other reported errors or print problems.