Yes you can do it.
Go through the link below and download the drivers.
https://www.support.xerox.com/en-eg/product/workcentre-6515/downloads?platform=win10x64&language=en
Hope it will work for you.
I know that standing at the printer, I can scan documents and have them saved to a network drive. Is it possible to control the scanner (WorkCentre 6515) from my computer (macOS 10.15) over the network? I found a scanner driver, but I guess it only works when the printer is connected via USB.