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If the printer has an internal network card the easiest way to change the IP address is through the printers own Web page, this can be accessed by entering the current IP Address of the printer in your Web Browser.

Go to the Advanced Section, then TCP/IP you can then change the IP Address of the printer.

You can find the current IP Address set in the printer by pressing the small black test button near the network port.

Alternatively you can use ARP for help on this open the DOS prompt and type ARP /?
Follow the example showing how to set an IP Address you will need the MAC address off the print out from network card test page.