I had the same problem with an HP Printer. This process is actually easier with an HP because the "PPD drivers" can be downloaded directly from synaptic.
But here's what I've found:
Go to http://www.support.xerox.com/go/getfile ... lish%20(US
and download the "Linux CUPS Printing Package" to a safe place. It's a set of Linux CUPS drivers published by Xerox. It will have to be extracted so double click it.
Start the Mint Printer Configuration Utility again and it will ask you about drivers. Select "Provide PPD File
". Then you need to point it to your download location. It will open up the folder and you will find a list of all xerox models. Select the one for your particular model and that should be it.