Hi,
How is the printer connected? Which Mac operating system version are you using?
The Xerox B210 Printer is listed as a supported printer in About AirPrint - Apple Support. An AirPrint-enabled printer is compatible with macOS, and can be used without additional drivers, provided that the printer and the computer are connected to the same network (subnet, Wi-Fi router).
AirPrint works with wireless (Wi-Fi) or wired (Ethernet) network connections. The B210 appears to have an Ethernet port in addition to Wi-Fi. So, you could wire the printer by Ethernet to one of the LAN ports of the Wi-Fi router instead of using a wireless connection.
If there is a problem with AirPrint discovery for one or more devices, you may want to try the following full procedure (in this order):
Power off the Wi-Fi router, the printer, the Mac computer, and all other devices/computers. Wait two to three minutes. Power on the router. Wait two to three minutes. Power on the printer. Wait a minute or two. Power on the Mac computer. Finally, power on all other devices/computers.
Add a printer to your printer list so you can use it on Mac – Apple Support (UK)
Reset the printing system on your Mac to solve a problem – Apple Support (UK)