A Kyocera printer should be deployed via GPO->Printers and is therefore installed in the Windows Server Print Management. You try to use the recommended Kyocera KX drivers first, but they don’t work as they should when the printer is deployed to the workstations. Before every print job, the special KX software tries to connect to the printer but it does not finish (this only works on the server for some reason).
So you would like to change the driver to Classic PCL6. Basically, this is no problem, as you can change the driver in the default printer properties. But the KX driver overwrites the Windows default menu when it is first activated, so you cannot change back.
Add the Classic PCL6 driver to your Print Management (under Drivers, install it for x64 and/or x86).
Use cmd to change the assigned driver:
rundll32 printui.dll PrintUIEntry /Xs /n "YourFriendlyPrinterName" DriverName "Kyocera Classic Universaldriver PCL6"
After executing this command, the assigned PCL6 driver should be assigned to your printer.