If you used the More Printers > Canon IP (PS) option to add the printer queue, then this will use LPR/LPD protocol. With the error you are getting, you may find that the LPD service has been disabled on the copier. Note that Windows will default to Port 9100 (RAW) for its protocol, so that explains why that would work.
You can open the Remote UI page for the iRC3220 by typing its ip address into your web browser. With the home page open, select the Additional Functions tab. You may be prompted for the iRC3200 system administrator ID and password. Enter this if you know it or contact your IT if you don't.
When the Additional Functions options appear, select Custom Settings. On the right hand pane, under Network Settings select LPD Settings. Ensure 'Use LPD' is enabled. If it isn't, check it then OK the change. You will have to restart the machine for the service to start working.
The other thing to check is that the imagePASS print controller option is not fitted to the iRC3200. This is a white rectangular metal box that would be hanging on the back of the copier. If you have this, you will not see all the options I mentioned above. Instead you will see the home page for the imagePASS (probably the C1). If you have the imagePASS, then you cannot use the Canon PS driver. You will need to use the PS driver for the imagePASS-C1.
HTH
PaHu