Is there a way to connect printer directly using ip address?

[hytgbn]

Hi, 

There are two routers and my printer is connected to outer network.

Internet  - router1 - printer (MG4120) - router2 - computer

printer's subnet is 192.168.1.0/24 and the computer's subnet is 192.168.2.0/24. 

As router2 doesn't have any firewall, so the computer can ping the printer, but the driver installation cannot find the printer.

Is there a way for me to configure the printer using ip address directly?

[hytgbn]

ping..

Isn't there a way to achieve this? Isn't there a way to connect even a printer with public ip but not in the same subnet?