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Is your Xerox connected to the computer with a USB cable? or is it networked?
In outline, you need to determine the exact operating system (Windows or MAC OS X version) on your computer, then you need to get the right driver for this model of Xerox and that operating system, installed onto your computer. Make sure it can work with a printer driver by allowing communication with the IP Address of the Xerox (*if* it is networked) through your computer's firewall settings.
That should do it - but give me information on the above-mentioned crucial points, and I will instruct you in the specifics.
(Note: the driver you really need is the Scanner Driver. But installing a printer driver first, even if you aren't going to use it, makes sure the process and hardware in general is connected and basically working.)