GNU/Linux Kali Canon MP510/MP520/MP530 Printer Setup – Step by step Guide
The linked tutorial shows you step-by-step How to Install Canon PIXMA MP510/MP520/MP530 Printer on Kali GNU/Linux Desktop – Step by step Tutorial.
And the Canon PIXMA MP510/MP520/MP530 Printer Setup on Kali is granted by the GutenPrint Software because the Proprietary Driver is not available.

GNU/Linux Kali Canon MP510/MP520/MP530 Printer Installation Guide