As I understand your network it is something like this:
ISP connection
V
Main Router (with copier)
V
Guest Router
This is a very unusual configuration. Normally a guest network would be implemented like this:
ISP connection
V
Guest Router
V
Other Router (with copier)
In my configuration, the NAT function and firewall in the Other Router blocks access to its devices from the guest network. In your configuration, guests can open connections to devices on the Main Router if they know how to do it. Normally, guests would not be allowed to do this.
If you are going to use a configuration such as:
ISP connection
V
Main Router (with copier)
V
Guest Router
I would make the network one single subnet. Disable the DHCP service in the guest router. Set it on a spare address in the subnet provided by the main router, using an address outside the DHCP pool for the main router and one that is not allocated as a static address. Then connect the two routers together PC/LAN port to PC/LAN port. You might need to have a cross-over cable, but many routers can use a normal cable. The WAN/Internet port on the Guest Router is not used.
This will give you a single subnet covering both routers so that guests can print directly from their computers.
This configuration should have little effect on security providing the security and permission settings of devices on the main router are configured correctly.
I hope this helps.