you have to use an app like print 'n share to print. it prints through a computer to the printer. you have to install the app on the iPad and then install the server software on the pc/mac.
The machine running the server has to be on and logged in for you to print from the iPad to the printer. It's basically printing through the on computer. That's about the solution at this point because you can't print directly to the printer from the iPad.