How to set up printer to print through Qwest router

I have a Konica/Minolta 2300 DL printer that is connected via a CAT5 cable to a Qwest 2700HG-D (2-wire) modem/router. My deskside computer is working through the router but does not see the printer. The printer has network settings that enable me to give it an IP address when DHCP and BOOTP are off. Should I set up an IP address on the printer? Should I not do this but instead turn DHCP and or BOOTP on ( I do not know what DHCP or BOOTP means)? Do I need to change any setting on the Qwest modem and if so, how is this done? Any suggestions would be greatly appreciated.

Regards,

Ron