This refers to printed material from Europe prior to the 1500s. (It’s the plural form; the singular is “incunabule.”)
The etymology is from a Latin word meaning “swaddling clothes,” which refers to the “infancy” of printing during this period. (Gutenberg invented the printing press in the 1430s.)
Dictionary.com offers an alternate, more generalized definition:
the earliest stages or first traces of anything.
In this sense, it reminds me of Antediluvian, which literally means a time period before the Great Flood of the Old Testament, but has come to mean, simply, something very old.