Hi Jenny,
The resource below will provide some troubleshooting steps for using Airprint compatible printers with your iPad mini. I don't see the Xerox P256DW model listed, so perhaps Xerox has some specific drivers available for you to download.
About AirPrint
If you can't print to your AirPrint printer
Check these things if you are unable to print, or if you see the message "No AirPrint Printers Found."
- On your iPhone, iPad or iPod touch, verify that your device is using the latest version of iOS available and that the app you're printing from is up to date.
- On your Mac, use Software Update to update OS X and apps you've purchased from the Mac App Store.
- Check with your printer's manufacturer to see if any firmware updates are available for your printer model.
- You can connect an AirPrint device to your network either through bridging, or a direct connection to your Wi-Fi network.
- AirPrint devices connected to the USB port of an Apple AirPort Base Station or AirPort Time Capsule don't use AirPrint. If your printer includes AirPrint, connect it directly to your Wi-Fi network or the Ethernet LAN port on your Base Station to print wirelessly.
- After turning on your printer, wait a few moments before trying to print. Some printers might take a minute or two after powering up before joining your network.
Take care,
