I don't have this particular model, but I do have the wireless HP Officejet 6500 printer.
In my case, I first installed the latest Mac drivers for this printer that I downloaded from the HP Support website. I then added the printer via System Preferences > Print & Fax. I clicked the plus button to add a new printer, and then, used Internet Printing Protocol - IPP for the Protocol setting.
In advance, I configured the printer, via its front panel, to have a static IP address just outside of the DHCP address range of my router. In then entered this address in the Add Printer's Address dialog box. Finally, I selected the appropriate printer driver from the Print Using dialog box. This driver was added after I installed the driver file that I downloaded earlier from the HP site.