Jac,

First, you will need to login to your print server, I believe it has an Ethernet port and a predefined IP address. When you so that, there will be settings for connecting the print server to the access point, where you need to enter the SSID and the network key. After this, the AP and the print server should connect.

Make sure you assign the wireless interface of the print server a staticl IP address, it will never work as a server with a changing one.

Then you connect your printers by adding them through an IP port with the IP address being the wireless IP of your print server.