How to setup Di251f as the network printer

I have Minolta Di251f all in one printer. I have a workgroup with dynamic ip addresses being deployed from the router’s DHCP. I have assigned a static IP address (192.168.1.160) to the printer. Printer connected to the network through the network cable. When I ping the printer, it responds back on the network but somehow i cannot add it to the workstation as a printer. What would be the expected problem here? Am I missing some steps?
P/s: No print server is installed.

Thank you for the help in advance.