Printer Setup Ubuntu 16.04 Xenial
The tutorial shows you step-by-step How to Printer Setup Ubuntu 16.04 Xenial LTS GNU/Linux desktop – Step by step Tutorial.
And to Successfully Setup Printer on Ubuntu 16.04 you have First, to Download and Install the Printer Driver.
So this Guide Includes Instructions on How to Install Printer Drivers on Ubuntu.

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Download and Install Ubuntu Printer Driver
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Then Connect and Power On the Printer!
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Next Open Ubuntu System Settings.
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Finally, Go to Printers >> Add Printer.
And if you Installed the Printer Driver then it should Successfully Installed!