This video shows how to add a printer by IP address:

Select the Windows Start menu, type Control Panel, and then press Enter.

Select View devices and printers

Select Add a printer

Select The printer I want isn't listed

Select Add a printer using a TCP/IP address or hostname and then select Next

Enter the IP address found from the Network Summary Report printed from your printer and then select  Next


Once successfully added, select Finish and print a Test page