Install Canon MG6140/MG6150 Driver Ubuntu 16.04 Xenial
You are Welcome! The Tutorial shows you Step-by-Step How to Install Canon PIXMA MG6140/MG6150 PIXMA Printer Driver on Ubuntu 16.04 Xenial LTS Desktop.
And the Canon PIXMA MG6140/MG6150 Printer Installation on Ubuntu 16.04 simply involve to Download the Proprietary driver and execute few Basic Commands on Shell.
Finally, included in the guide also detailed instructions to Getting-Started with Canon MG6140/MG6150 Scanning on Ubuntu.

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Open a Terminal Shell emulator window
Ctrl+Alt+t on Desktop
(Press “Enter” to Execute Commands) -
Download Canon MG6140/MG6150 Ubuntu Driver
Of Firefox Select directly ‘Open with Archive Manager’!
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Double-Click/Right-Click & Open with Archive Manager
And Extract into the /tmp directory: -
Checking/Installing GDebi Package Installer:
which gdebi
If Not there then:
sudo apt install gdebi-core gdebi
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How to Install Required Packages for Canon Driver on Ubuntu
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Install the Canon Packages with:
cd /tmp/cnijfilter*deb/packages
For 32-bit Systems:
sudo gdebi ./*i386.deb
For 64-bit Systems:
sudo gdebi ./*amd64.deb
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Installing Canon MG6140/MG6150 Printer Driver:
cd /tmp/cnijfilter*
Connect & Power On your Printer.
sudo ./install.sh
You could be asked to Connect and Turn On the printer…
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Finally, Go on System Settings to Add Printer
And the Printer will be Recognized and Installed -
Getting-Started with Canon MG6140/MG6150 Scanner on Ubuntu
Ubuntu Canon MG6140/MG6150 Scanner Quick Start