First create a port:
cscript %windir%\system32\prnport.vbs -a -s localhost -r IP_10.31.32.100 -h 10.31.32.100 -o raw -n 9100
Then create a printer:
rundll32 printui.dll,PrintUIEntry /if /b "Some Printer Name" /f C:\DEV\pcl5e_5c\P52KHAL.inf /r "IP_10.31.32.100" /m "Canon iR 3100C EUR PCL5c"
For more info try the /? commands