This post was extremely helpful. As a first time MAC user, I had spent a ridiculous amount of time downloading a few different drivers for the MP210 with no printing success.
Like the original poster, I am using Mavericks 10.9.5 and have been trying to connect and print to my PIXMA Canon MP210 connected via USB to a Windows 7 machine.
Just wanted to add a few things I found I had to do:
1) On the Windows 7 machine, I added the Guest Account. My Admin user, the only user I had configured, did not have a password associated to it and I could not connect to the workgroup computer from my MAC with the admin username and no password. (It kept denying me access)
2) Once the Guest account was active I made sure that the Printer Properties "Password protected sharing", was set to 'Turn off password protected sharing'.
3) When attempting to connect to the workgroup from my MAC I was still asked for Username/Password credentials. This time I selected Guest. After some searching it returned the printer name.
4) Once installing Gutenprint 5.2.10 a bunch of additional Printer Software options became available when adding the printer.
I chose Canon MP210 Series - CUPS+Gutenprint v5.2.10. Though none of the additional options for the printer are available from my MAC (i.e. Cleaning or checking ink levels), I can finally print. Alleluia.
Again, thank you both for your detailed posts!