Document Centre 535 printer driver for Windows XP

I have a Document Centre 535 Digital Copier, in the user manual it mentions a printer driver available for Windows XP but I can't find it listed under the drivers section for this copier on xerox.com

Xerox 535 support page

Where can I download the driver for this copier?  This copier has a USB port on it which I have plugged into a computer, it detects the device but I need the driver.  The manual mentions Centreware but I don't see this available on Xerox.com either. 

Thanks