I would bet that your problem is that you're not using the glossy black ink. I did the exact same stupid thing. Always used matte canvas on my Canon iPF6100 and it came out gorgeous, and when I tried the satin canvas, ink was coming off, even days later.
A kind member on here mentioned that perhaps I wasn't using the right black ink and he was totally right. I used the same profile and media setting for the sample roll of satin that I bought that I was using for the matte canvas which told the printer to use matte black versus the glossy black which is what I needed on the satin surface. Changing the media setting fixed the problem.
I'm not sure with your particular printer and black switching, but it sounds like you have matte black loaded and you really need the PK for the satin canvas.