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First, go to File -> Print. Make sure the correct printer is selected, and choose the Properties button to the right of the printer to enter the Canon driver settings.
Choose the Page Setup tab under Properties, and click the Media Size Options button. This is where you create the custom page size for the image. I like to use a media size 1/4-inch larger than my image. For this example, my image is 8.5x11 so my media size will be 8.75x11.25. Name the media size in the upper right and enter the correct values below. Make sure to hit the Add button before choosing OK.
Now, choose the page size you just created. It will be on the bottom of the Page Size dropdown.
Go to the Layout tab and check the box that says Page Layout. In the dropdown to the right, select Free Layout Tool. Click OK to return to the initial print screen, and then click Print. This will open the Free Layout Tool.
You will now see your image in the Free Layout Tool. Go to File -> Detailed Settings.
Choose the correct media type and quality settings here. Click the Color Settings button to set color management options.
In the Matching tab, select ICC Correction Mode. Make sure you have the right matching method selected (a.k.a., rendering intent) and choose your output profile in the dropdown labeled Printer Profile Settings. Select OK to go back to the Detailed Settings window.
In the Page Setup tab, choose the correct roll paper width.
In the Object Settings tab, you can specify the amount of space you want between images as well as different types of crop marks. Choose OK to return to the Free Layout Tool main screen.
You can now rotate or resize your image as you desire.
You can also duplicate your image by using the Copy button (or Ctrl+c) and the paste button (or Ctrl+v).
Use the Auto Arrange button to line up your images for easy cutting and more economical media usage. You are now ready to go to File -> Print to send the job to the printer.
Note: If you want to load different images into the free layout tool, simply follow steps 1-4 with a different image. The new image will be loaded into the Free Layout Tool as long as you keep it open throughout the process.