Use the WPS method to connect the printer to the wireless network as shown in this document.
Make sure the printer and the iOS device are connected to the same wireless network.
If you have a Dual-band router and both 2.4GHz and 5GHz networks share the same name/SSID, the printer will not be able to connect to the network. In this case, contact your Internet service provider to assign different names to both networks.
Also, check with your Internet service provider if your router is able to forward 'Bonjour packets'.
Hope this helps! Keep me posted.
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