1. In order to print your Mac needs to be AU managed and connected to neither VPN or AU client network. You also need to activate your admin rights in Heimdal
2. Go to "System Settings" and choose "Printers & Scanners"
3. Click "Add Printer, Scanner or Fax"
4. Find the printer in the list and under "Use: Choose a Driver" you choose Generic PostScript Printer. Click Add.
5. The printer is now installed. If you don't see any "Open Directory" printers in the window, you are not able to print to an existing printer installed locally.
How to configure secure printing and printing on a Xerox printer