printing

On a Mac,

System Preferences -->
    Printers & Scanners -->
        + [add] -->

and in the Add pop-up,

IP ( not Default ) -->
    Protocol = HP Jetdirect - Socket
    Queue    = (leave blank)

On Windows 7,

start button -->
    devices & printers -->
        add a printer -->
            add a network printer -->

Browsing and discovery may well fail, the job becomes semi-manual.

the printers

The third floor Xerox
psych-xr-sn3075b.psych.mun.ca
134.153.158.43
Xerox WorkCentre 5845
five trays
office finisher

The psych office Xerox
psych-xr-sn2065.psych.mun.ca
134.153.157.49
Xerox WorkCentre 5845
five trays
office finisher

The biotech printer, in BT2012
agraphia.psych.mun.ca
134.153.158.195
HP LaserJet (Pro?) M402dn
duplexer

The colour laser in the psych office
psych-hpcolour.psych.mun.ca
134.153.158.164
HP LaserJet 400 color M451dn

drivers

Downloads from Xerox.

Windows 10: what you get from xerox.com is not enough. Click the Get App link to download xerox print experience from the Windows app store.

generic drivers

When a specific driver is lacking, you can get away with treating a printer as a superset of some older one. Generally, you loose the use of the Xerox's stapler -- no worse than that.

For example,

HP LaserJet 4000 (Mac or Windows)
HP LaserJet 4050 (Mac or Windows)
Generic PostScript Printer (Mac)
Generic PCL (Mac)
Generic / MS Publisher Imagesetter (Windows)