Click on the Apple Menu > System Preferences > Printers
Click the + under the list of installed printers to add a printer.
Click the globe icon at the top of the window to install the printer by address.
Enter the Address of the printer in the Address line and the name you'd like to label the printer on the name line. 10.130.197.41
Check that the "Use" line lists the correct model of printer - if it isn't automatically found, click the pull down and choose "Select Software" and then choose "Ricoh Aficio MP 2550 PS" from the list.
For the optional equipment, make sure to include the Duplexer.