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Open up Apple System Preferences.
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Click Print and Fax.
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Click the + sign in the lower left of the Print and Fax window to add a printer.
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Click IP.
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Select the proper Protocol for your printer type. For HP printers use the Protocol: HP Jetdirect - Socket.
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Type in the IP Address or Hostname (example: rosalyn.cc.gatech.edu or 130.207.14.144) of the printer. Leave Queue blank.
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Enter in the name of the printer under Name.
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Select an appropriate driver under the Print Using dropdown. If you cannot find the correct driver, you can either provide one or use the Generic PostScript Printer driver. Click Add.
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You may be presented with an Installable Options screen. If so, select the appropriate options or accept the defaults.
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Click Continue to add the printer.