Canon printers need a specific driver to work on CUPS based systems like GNU/Linux, that also installs some software to rasterize correctly images. You can download the official driver from here: https://www.canon.it/support/business/products/office-printers/imageforce/series/imageforce-c5150.html?type=drivers&os=Linux%20(64-bit)

Please make sure to select the UFR II/UFRII LT Printer Driver for Linux option.

Extract the archive and open a terminal in the extracted folder.

Just run the install script with root privileges:

sudo ./install.sh

Accept the conditions and wait for the procedure to finish. At the end, the system will show a graphical interface that allows for installing USB printers, but this is useless for SISSA printers so you can just close it.

When configuring the LPD printer in CUPS web interface, select the product manufacturer as Canon

And the exact printer model: imageFORCE C5140/5150