There are several types of cannons in Darkfall, including fixed positions on ships, on warhulks, and on clan city towns, and deployable cannons that you spawn with a figurine in your backpack.
If you want to spawn a cannon, you are suggested to aim at the ground where you want to place the cannon and double click the figurine in your backpack.
In order to use a cannon, you should walk up close to it while aiming at it. You can use it by pressing F. once it is under your control, you aim it by using your mouse and fire by left-clicking your mouse.