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 in Kali GNU/Linux Desktop.
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