Please follow the steps..
Go to start-->run-->ip address(where printer connects)-->ok
then printers and faxes--> right clickwhich printer you want to map-->press connect.
Go to add printer wizard in you computer's printer and faxes option andthen click connect to printer in network and then proceed with the name of the printer that connects in your network and then finish it...
if any doubts post here..
kioskea here always to help you..