Your printer might need a firmware update. Check the printer documentation for how to do this.
Your printer must be on the same WiFi network
Your router must support Bonjour (Zero-configuration networking).
Troubleshooting:
Turn Off iPad, WiFi router (remove from power), and Printer (remove from power).
Turn on WiFi router
Wait 30 seconds
Turn on printer
Wait 30 seconds
Turn on iPad
Try to print.
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