Here's how I did it, this way the windows system or any other computer need not be on:

Add printer.Network printer, Find network printer, enter ip address in Host. field [mine is 192.168.1.74]. Click Find, it should find the printer and the Queue. select "LPD/LPR queue" in lower pane.
Click Forward, select printer from database, Canon, click forward, choose Pixma MX870, Finish, print test page.