Connecting HP Officejet 6100 to wireless network with OSX 10.9.5

Running OSX 10.9.5.
I'm trying to connect HP Officejet 6100 to wireless network without HP software since the software claims it is not compatable with my OS. 
The printer works fine when connected via USB.

Hi @dj2thew,
Thank you for visiting the HP Support Forums! I see you are trying to add your HP Officejet 6100 to your Mac running the Mavericks 10.9.5 Operating system.
Because you are using the Mavericks OS X you must install the printer using the Apple Updates. Please click on the link below, this document explains how to install the print driver on a Mac for a USB or a network connection. The OS X v10.9 Mavericks driver for your printer is available through Apple Software Update (ASU). Additionally, you can perform basic print jobs using AirPrint without installing a driver.
OS X v10.9 Mavericks: Installing and Using the Printer on a Mac
Once you have installed the OJ 6100, you may notice the features you once had are limited or there are workarounds, for scanning with or without HP Software see below:
How to Scan: OS X v10.9
I hope this helps!
Thanks again,
HevnLgh
I work on behalf of HP
Please click “Accept as Solution” if you feel my post solved your issue, it will help others find the solution.
Click the “Kudos Thumbs Up" to the left of the reply button to say “Thanks” for helping!

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