I asked my tech the same question, but he indicated that would be pretty hard given that their software on their computers is the service manual, which is arranged similarly to Wikipedia where it's a lookup database rather than a 500 page document. But I could very well be wrong.
I don't know of too many manufactures of printers, (or, any other equipment, for that matter), in today's world, that still print service manuals. Most of it is on internet
Have you tried contacting Xerox? I am sure they have some method of selling them. You wouldn't sell a product with no way for your customers to work on them. I would actually expect there to be third parties selling manuals like they did on the offset presses. Some were not only helpful, but down right hilarious.