SANS: Printer Hacking for Fun and Profit
Nate Johnson and Sean Krulewitch of Indiana University discovered two vulnerabilities with the Fjui Xerox Printing System. In the United States this effects Dell branded printers (specifically the color laser 3100 and 5100). There are Japanese printers that are affected but I don't read Japanese and I'm not sure that information has gone public on the Japanese CERT lists (if someone sees it, let me know).
Apparently one of these Japanese printers doesn't release firmware updates and customers have to pay maintenance for a technician to come out and update the firmware. SANS - Internet Storm Center - Cooperative Cyber Threat Monitor And Alert System
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