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For print jobs, this is primarily controlled by the print preferences on the computer sending the print job.
As an initial step however, from a computer, open the printer driver and select [Finishing] > [Advanced Settings] >[Special Print Mode] >[Special Settings 2] to adjust the density.
Note that this adjusts the density for that particular computer only, it is not a global setting. You'd have to make this driver adjustment on each computer using the printer.