The driver should be a tarball, Xerox_WorkCentre_3215_Linux-Driver.tar.gz
d/l and extract, it will make a Downloads/uld/ dir. In there you will find shell scripts to install-printer, install-scanner, uninstall, etc.
Go to that dir and type: sudo sh install.sh
I don't have that printer but usually this is how we install printer drivers.
Hope this helps.