I just spent the last two days on this and have finally sorted it out. It actually isn't that hard to do but for some reason, no one has consolidated the information in one place!
First and foremost, make sure that you have all the latest and greatest firmware updates for your printer, your computer and your mobile devices.
Next, you need to connect your printer to your network via an ethernet cable, this is the only way to get in to the printer softare to configure it for your wireless network.
Navigate the printer menus on the keypad to Reports>Config Report and print this report. It will provide you with the IP adress and IPv4 address for the printer.
With the printer connected to your network and powered on, point your browser to the IP address of the printer. If this doen't work (it didn't for me) use the IPv4 address.
This will open the configuration panel for the printer and will let you configure the wireless for the printer so that it can join your wireless network. You will see various tabs across the top. Select network. Then along the left you will see wireless. Choose that. Now you should see a list of wireless networks available including your very own home network. Choose that one, enter your password and hit apply.
Disconnect the ethernet cable and you should be ready to Airprint from all devices. This worked for me, I can't imagine it won't work for all...then again...🙂