You need to statically assign an IP address to your printer, as you would with any IP-based server. Check the documenation for your router and the printer.
Usually, this involves disabling DHCP on the printer and configuring an IP address outside the range served by your router. For example, if your router is managing DHCP addresses in the range 192.168.1.100-192.168.1.150, then you can set the printer to IP address 192.168.1.151. That way the IP address never changes, and applications (like CUPS) can find the printer.
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