Below video shows the process for mapping a site printer via direct IP Address on a PC. This is the best way to ensure a printer is always firmly mapped with a direct connection. Auto-finding a printer often maps it with a WSD port that seems to be dynamic and constantly drops out. This way is generally fool proof provided the printers ip doesnt change

This process will be the same regardless of the printer model. The only things that may differ are the specific IP address and the driver you choose dependant on whether it is a Samsung or a HP.