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SharePoint Online can be accessed through the Print and Scan for Office 365 app. Install and authenticate to the Print and Scan for Office 365 App. and SharePoint Online will be an available option for printing files from or scanning files to. This is true for any Office 365 account that includes SharePoint Online as part of the purchased package. SharePoint Online / in the cloud can be purchased as a standalone offering or as part of an Office 365 suite.
The Gallery Apps do not currently support SharePoint on Premises. Only the cloud solution is supported at this time.
If you have not already visited the support site, additional information may be found at http://www.support.xerox.com/support/xerox-app-gallery/support/enus.html