So here is what I found as a workaround to print directly onto a CD from EPSON PrintCD software when you get the error, “The EPSON printer driver dealing with CD printing is not installed.”
When you chose “Print” out of Epson Print CD and you are printing to a disk in the cd disk tray of the Epson Stylus Photo R220 (or R320 and other “R” series printers), when you get the error message saying “Print driver is not installed,” just hit OK.
Then in the next window (which is where you usually have control of the CD tray) click on “Manual Print” in the upper right corner.
Next, click OK on the next window.
When the next window opens, pull the pull down menu down where it says “Copies & Pages” and change it to “Print Settings”.
Change the “Media Type” to CD/DVD.
Then click print.
You’ve now taken a simple 2-click process and created a 16-step workflow…but at least you should be able to print on CDs and DVDs once again.