Try this from the command line:
Code:
hp-setup -i [ip address of printer]
If you are using the GUI tool (hp-toolbox), when you click to set up a device, click the "Advanced" button in the "Discover Device" page and enter the ip address of the printer in the appropriate dialog.
It is best to give the printer a static ip address if it doesn't already have one; it makes life a lot easier down the road.
Let us know what happens.