To add a printer that was deleted, open System Preferences -> Print & Fax / Print & Scan / Printers & Scanners (the name depends on the version of macOS you have), click + next to the printer list, and then perform the procedure described below.
If your printer is connected via USB, and you connect the USB cable to a Mac, the printer is automatically added.
The steps below will only apply if you want to use your printer on a network.
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Check whether Default is selected in the displayed dialog.
Note
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Select the printer listed as Canon IJ Network.
Note
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Select Canon MG6200 Series from Use.
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Click Add.
The printer is added to your Mac.