Network Printing Problem - need help

Using Windows 2003 Server Enterprise version.

Have one Domain and small work groups on the Lan.

I have setup three (3) Ricoh copiers as network printers - static IP
assigned. These are hosted by the single Server we have.

Here is my problem:

From a Work Group work station on the LAN; when I try to add/connect the
network printer to the workstaiton, it takes the longest while to recogonize
the printers? I use \\ IP address of print server\ - after several attempts
they do show up??
When I can see them, they connect ok. After a while they disconnect?

Two questions:

1 - why does it take a long while to see them, and
2- why are they disconnecting? The work stations are not re-started.

Is this a problem because I am not in the same Name Space? i.e. Work Group
Workstation on the Lan and not a member of the Domain?

thx