See also Add a printer on Mac - Apple Support. I do not own this printer model, so it is unknown to me whether the Canon IJ Network Tool Ver.4.7.2 (Mac) in the Software section would work at all for the intended purpose in this case.
All can be found in the Manuals section under the link above. There is also a full MP560 series User Manual (Mac).
Look for information about how to check a printer's IP address in the Network Setup Troubleshooting guide.
If necessary, the MP560 series Getting Started manual shows how to set up wireless printing.
Download drivers for Canon PIXMA MP560 for Windows 10, Windows XP, Windows Vista, Windows 7, Windows 8. If an incorrect access point was inadvertently selected, you will be able to select the correct one. Confirm the network name matches the one selected on the printer and the one on the computer. Canon PIXMA MP560 drivers will help to correct errors and fix failures of your device.
Once you have the details you can search the Canon website for your drivers and, if available, download and install these drivers.
Power off and back on the access point and printer to restore communication. The driver may be included in your OS or you may not need a driver.