In order to add the printer to the domain, you’ll have to share it from a print server first (A print server that is a member of the domain). Make sure you shared your printer, then go to the following steps.
Start > Control Panel >Printers and Faxes > Add New Printer
((Add Printer Wizard Appears))
Next
Local Printer (do not detect)
Next
Create New Port > Standard TCP/IP Port
Next
((Add standard TCP/IP Printer Port Wizard Appears))
Next
Enter IP Address of printer
Next
Next / Finish
Select Printer Driver
Next
Give the printer a name
Next
Select “Share Name:” and assign the printer a name.
Next
Enter Location and Comment if desired.
Next
Next
Finish
Now the printer is added to that server. You can add a mapping in your startup script to SERVERPRINTER_NAME