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Cups doesn't have a driver for WorkCentre 5020b. But the printer is detected by Ubuntu cups and the config utility. What should I do to install this printer to my Desktop system?

I want this set up as as local printer via USB on Ubuntu 12.04.

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Maybe this will help you can get the drivers here for 5030 not sure for 5020 but might work?

http://www.support.xerox.com/support/workcentre-5735-5740-5745-5755/file-download/enus.html?operatingSystem=linux&fileLanguage=en&contentId=118162&from=downloads&viewArchived=false

Myself I installed a 5755 doing this: http://crazymadeagle.blogspot.com/2013/07/install-xerox-workcentre-5755-in-ubuntu.html

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