Try the SpliX package from OpenPrinting on both Lucid (10.04) and Natty.
On which distribution(s) is printing correct? On which not?

Note that for using the OpenPrinting package you need to switch the
driver of your print queue to the OpenPrinting version of SpliX with
system-config-printer.

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https://bugs.launchpad.net/bugs/714259

Title:
  Printer driver for Samsung CLP-510 (Splix)

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