OK, first, a tutorial:
DHCP stands for Dynamic Host Configuration Protocol and is a negotiation standard whereby newly attached network devices query the network for a DHCP server and, if they find one, ask it to give them an IP address which it then does. (your last (06) shows the ip address as 10.1.10.27 and the router is at 10.1.10.1 which is also the DHCP server in most small lans)
Bear in mind, too, that ALL network traffic consists of telegrams sent and received to and from IP addresses.
For PCs and/or devices (phones, etc.), this is the best way to leave things setup as they will then connect to whatever network they have attached to. But; for shared resources (like servers or printers) this is not so good because, every time the power goes out or you reboot the router, every device on the network gets a new IP address based upon the order in which they ask for them. The solution then is to give shared resources fixed or static IP addresses so they are always in the same place on the network.
I like to set printers at x.x.x.150, 151, 152, etcetera which places them far enough up the list that other PCs (or devices) won't bump into them and cause problems. (You can't have two things with the same IP address; it confuses the h#ll out of the network.)
So, login to the jetdirect card by going to http://10.1.10.27 in a browser which should bring up its management webpage. They all very slightly depending on the model; but, you ought to be able to go to the network configuration, turn off automatic ip (DHCP) then set the card to 10.1.10.150 and make sure you match the rest of what is on your 06 for the submask, default gateway, and DNS. Save that, wait for the card to reboot, and then verify it has been saved by going to the new address of http://10.1.10.150
Once that has been verified, go to the ports tab for the HP on one of the existing XP PC's and add a new LOCAL TCP/IP port at 10.1.10.150. You should be able to use the defaults for the rest of the wizard and then be able to print. Doing the same on the other XP box should make it work, too.
I do believe the printer will work with Windows 10, too; but, again, you create a new local TCP/IP port and then use Windows updates to retrieve the list of printers and the 5000 ought to be there.
Bear in mind that, if you EVER change out the router, it must be set to 10.1.10.1 or your printer will disappear from the network.