The last printer drivers for the ML-2580 series was released for macOS High Sierra in Fall 2017. These are very unlikely to be 64-bit or supported in Catalina.
Try this for your existing USB connection:
- Right/Control-click on your Printer entry in the Print & Scan panel. Choose Reset printing system…. This will remove the printer from that panel, and prompt you to re-add the printer.
- By default, it will offer you the ML-2580 series drivers, so choose that, and add the printer back.
- See if you can print something now
If your ML-2580 is a ML-2580N model, disconnect the USB connection, and connect an Ethernet cable to the ML-2580N, and then to switch or router, and again, with it poweed on, re-add the device. This time, see if Apple's Bonjour service detects the ML-2580 on your network. If it does, select it, attempt to re-add the printer, This time, see if AirPrint, or Auto-Select menu items are available, and If Air Print support is offered, choose it, and re-=add the printer. Apple's AirPrint is built into Catalina, and does not require Samsung software or drivers. If you can configure with AirPrint, then attempt a test print.