Epson to iPad wifi setup? Help.

I am having issues just connecting my xp-200 wifi printer to my iPad 2. I do not have a laptop or desktop computer...just my iPad.

For my router, it's a Comcast with wifi. All is working and connected but for my Epson printer.

When searching for the wifi printer with the Epson iPrint, I get error message of "Unable to find printer...ssid...Home D272...check network settings...".

I can access the router in my browser 10.0.x.x but don't know what to do from there. My router can see my devices but not my printer.

What can I do with my router so the printer will have access?

The Epson manual is short on info. Does not include any iPad wifi setup. Been everywhere looking for answers but going in circles. Yes, xp-200 is supported.

Thanks a bunch!