CANON ZR-20 and Card Photo Printer CP-10

I have the above two hardwares. I was wondering if I can:

a)use my camera and print photos using the cp-10 printer directly

b) I can use the cp-10 printer with my PC and what extra cables/software will I need

c)where I can find drivers for the CP-10 for WINDOWS XP

d) is there a canon software program I can use to develop/print my pictures.

LASTLY

e) my camera (ZR-20) which is brand new, has a small bug. Whenever I try to rewind the tape, it 'eats' the tape and a warning message appears to @Remove Tape from cassette'. This does NOT happen when I fastforward it or when I rewind with 'play' key pressed as well. Can someone tell me what is wrong?

Thanking you in advanced.
GL