Xerography is the name of the process that was invented in 1938 by Chester Carlson and developed by the Haloid Company into the first fully automatic plain paper copier, the Xerox 914, in 1959. Xerography is a modern word developed from two Greek roots meaning "dry writing."
Shortly after releasing the Xerox 914, The Haloid Company began a transition to a new name, Xerox Corporation. The name Xerox was taken from the term Xerography, and shortened using the model of the name of Kodak, the other large technology company in Rochester, NY, at the time
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Joseph C. Wilson was the CEO of the company when Xerox Corporation took that name in 1961. However, the company had been in business as the Haloid Photopgraphic Corporation since 1906.
The process called xerography was invented in New York City and was brought to market as the Xerox Copier by the Xerox Corporation, a US corporation based initially in Rochester, NY, and later in Connecticut.
When Xerox originated depends on what you mean by "Xerox." The company that is now called Xerox Corporation was formed as the Haloid Company in 1906. It changed its name to Xerox Corporation around 1958. The process of xerography, the making of a photocopy with dry ink, was first demonstrated in 1938. The first machine using xerography was marketed about 1954 and the first fully automated xerographic copy machine was released in 1959. Any one of these dates could be "when Xerox originated" to some people.
Neither the word "Xerox" nor the Xerox Corporation existed in medieval times. Xerox is a trademark and an invented word - invented around 1958. Xerxes, however, was an ancient Persian emperor, long before medieval times, but his name was known in medieval Europe.
The Xerox Corporation developed the Ethernet.