Instead of setting the printer to use DHCP, use a fixed address that is outside of the networks DHCP range. Your router is more than likely where you will find what the DHCP range is. This site has a bit more information about DHCP. On my home network I have the computers set to use DHCP, and my two network printers use static addresses. Remember: It is VERY important to make sure that the static addresses you choose are outside the DHCP range.
DHCP provides for the ability to distribute fixed IP addresses. It is called a reservation. The reservation relies on the MAC address of the device as that is the only information in the DHCP discover broadcast packet. The DHCP server sees this information and provides the reserved address in the DHCP offer broadcast packet. The device then accepts the offered address in a DHCP request packet and the DHCP server ACKs the acceptance of the reserved address. Remember the acronym DORK – Discover, Offer, Request, Acknowledge. We use DHCP for almost all the printers on our network. It is much easier to manage from the central location. We also typically have the printers in their own subnet and set the lease time longer (30 days) than clients (7 days).
Bottom line – setup a DHCP reservation on the DHCP server using the MAC (hardware) address of the printer(s). Then the clients will always be able to connect to the printer at the same IP address provided the printer is online and has network connectivity.