The iP6310D can't connect to the wireless router directly. It has a USB port and an optional blue-tooth receiver.
If you connect the printer to one computer, you may be able to share it using that computer as a server. Install the printer software on all of the machines. For the software, see
http://www.usa.canon.com/cusa/support/consumer/printers_multifunction/pixma_ip_series/pixma_ip6310d#DriversAndSoftware . For Windows 7 and 8, if you set up a Homegroup, enable sharing for the printer on the computer that it is directly connected to. Then use Add a Printer command from the Devices and Printers Control Panel option to locate networked printers. For other OS options, you'll need to make sure that the computers are in the same workgroup. (See the Network set-up information.) Then add a network printer.
If your wireless router has a USB port, you may be able to connect the printer to the router. Again install the printer software on each computer. Then use the router's software to add a printer on the computer. (For Linksys routers, that is the Cisco Connect software. Some routers may not offer this software for all OS's or for all printers.)
A similar option is a print server connected to the USB port of the printer. You will need to check the specifications for each one. There are some that only work on select printers.
Once the software (the printer driver and then the network software/shared printer is set up), then any program should be able to print following the File > Print command.
Please add a comment with your OS and/or router model, I'll try to walk you through setting up a shared printer or a USB connection on the router.
Cindy Wells
(Note: I have a USB printer connected and a wired network printer to a Cisco router. My only issue is that I get a printer error with every print job. The printers print the documents anyway. The error is due to the printers not responding to the software as fast as if it were a direct connection.)
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