By default, the printer isn't available for Linux, but you can make it work with the help of 3rd party drivers from another product.
Access the Xerox page and download the DEB package. This is the i386 driver, if you need for 64bit use the following command:
first for i386
sudo apt-get install libcupsimage2:i386 libstdc++6:i386
and then for 64bit
sudo apt-get install libcupsimage2:amd64 libstdc++6:amd64