download Xerox B210 Linux PrintDriver Utilities, unpack it

then

/usr/sbin/lpadmin -p Xerox_B210  -E -v parallel:/dev/usb/lp0 -P /usr/local/src/Xerox_B210_Linux_PrintDriver_Utilities/uld/noarch/share/ppd/Xerox_B210_Series.ppd
/usr/sbin/lpadmin -p Xerox_B210 -o PageSize=A4