There are two printer drivers available for the Canon printer board.
There is the UFR2 v10.1.0 and the PS3 v4.00 driver. I would try the UFR2 driver first, as all iR copiers have this protocol as standard. To use the PS3 driver, you would need to have the Postscript kit installed, which is an option in most regions.
So with the UFR2 driver, after you download the file, unpack the dmg and run the installer. When the installer has completed, open Print & Scan and click the plus button to add. If the little Nearby Printers window appears select Add Printer or Scanner. With the Add window showing, select the IP icon and then enter the IP address of the C5030. Then select the Line Printer Daemon - LPD protocol. Leave the Queue blank. Change the Name from the IP address to something more meaningful to you. Enter a location if you want to and then in the Use menu, click on Select Printer Software. With the new window that appears, type in C50 in the filter section. This will short list the installed drivers, and show the two model groups of the C50xx series. Select the one showing the C5030 and click OK. Then click Add to complete the install.
Now that the printer is created you can try and print to it. If this errors, then please reply.