How to add Canon printer that works on Windows machines?

I'm trying to add a Canon MF8050cn to print from OS X Yosemite that works fine from Windows 7 machines. I installed the Canon 8000 driver for Macintosh. I can ping the printer successfully at 10.1.10.18 from my Macintosh. In the Add Printer dialog on the Macintosh, I enter the static IP address of the printer and Internet Printing Protocol and use Canon MF8000 Series, however, when I click Add on the dialog, it gives the error:

Unable to verify the printer on your network.
Unable to connect to '10.1.10.18' due to an error.
Would you still like to create the printer?

Choosing Continue gives a printer that does not respond to requests to print.

How can I configure this printer for access from my Macintosh?