Setup the printer using a static IP - this is usually done by using the printers physical control panel.
Another option to configure the ip address is the printers web interface. To locate the printer’s current IP address - probably DHCP assigned - you can use arp-scan.
sudo pacman -Syu arp-scan
Then
sudo arp-scan -l
You will see all devices on the network Open a web brrowser and point it to the IP address you think is your printer.
When that is in place - you can add the printer in cups webinterface ipp://v.x.y.z
Using DNS-SD requires the avahi daemon to be up and running
systemctl enable --now avahi-daemon.service avahi-dnsconfd.service avahi-daemon.socket