Sounds like the other PC was sharing the driver to this PC, so when the other PC went down, the connection was broken.
Remove the driver in Start > Devices and Printers
Reinstall a fresh copy from Xerox.com , used the web based installer and you likely won't even need to set it up as the installer will likely find the printer on your LAN.
The main desktop computer in our network is down (still diagnosing). While it is down, the other computer can't print from the primary printer (ColorQube 8570N). This is the message I receive when I run the diagnostic. Prior to the other computer going down, we had no problems.
Any help would be greatly appreciated.