Can't connect to TCP/IP printer with undescore "_" in the IP

I have a wireless printer that's connected to our private LAN in our workplace. There is a weird configuration for the printer that it requires two printers to be added. For color - 192.168.51.xxx and one for grayscale - 192.168.51.xxx_1 <--- There's a problem on MacOS that says it cannot connect to a printer with that IP but on windows it runs completely fine. The company previously worked with another IT company and they got it set up on one macbook in the entire workplace, but I cannot replicate the steps that they've taken. Maybe there's other ways to add a printer, besides the regular control panel? I've only seen posts about ports, but not with this kind of IP as it's unusual. The printer model is - Konica Minolta INEO+ 220