GNU/Linux Manjaro Printer Canon TS5150/TS5151 Setup – Step-by-step Guide
The linked tutorial shows you step-by-step How to Install Canon PIXMA TS5150/TS5151 Printer on Manjaro GNU/Linux desktop – Step by step Tutorial.
And the Canon PIXMA TS5150/TS5151 Driver Manjaro Driver Setup It’s quick and easy because it only involves running a few Basic Shell Commands.
Especially relevant: after the Driver Installation to achieve the Printer Setup follow guidance to Add Printer!
Finally, included in the guide you find also instructions to QuickStart with Canon Scanning on Manjaro.

Canon PIXMA TS5150/TS5151 Printer Manjaro Installation Guide