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What is the error/announcement you're getting from the iMac? There have been reports of the Smart Hub allocating the same IP address to two or more clients, hence one is 'kicked off'. See message 56 of BT Smart Hub (Home Hub 6) Bug Reporting + Improvements for details.
Seems the poster of that issue resolved the DHCP problem by changing the default DHCP range the Smart Hub uses.
Re-run the Canon Printer setup program, so it detects the correct address. On my Canon printer I have set the IP address manually, which makes things more reliable.
Just to add, the printer would have remembered any previous IP address allocated by the old hub. The Hub 6 has probably assigned that IP address to another device, so the printer gets thrown off.
Re-running the setup should fix the problem.
I have just connected my MG5350 to newly arrived Hub 6. trick was to access setup on the printer (HOME > menu4), then wireless LAn set up. The screens prompt you to direct connection using the WPS button on the router. Worked like a charm.
It must be all of the smart HUB 6's because mine is the same. I still cannot connect with either of my printers and all airdrop on the ipad/phones have been diabled. BT can't help, neither can HP or Cannon. Apple are at a loss as to why. Come on BT Tech guys please post a solution for us.