Likely the printer changed Hostname or IP address.
Just remove the printer and reinstall after downloading the driver from Xerox.com and it should find the printer and resolve the matter easily.
I have a MAC running OS10.12.3. Out of the blue, my printer stopped recognizing my computer. I send a document to print, the computer shows the printer going from "Idle" to "In Use". But the printer remains at "Ready" and doesn't print. I have changed nothing since the last time I printed. Help!