Impeccable impression, but very slow to start up

As always with the Pixma, impeccable print quality and a cost to the particularly advantageous page (for an inkjet).
But when I use a lot of models of previous generations (4000, 4300, 3500, ...), it has a peculiarity, it needs several minutes before starting to print (starting of the head printing, back and forth of the carriage, various noises ...).
Very annoying