Hi, I don't think your printer is 'AirPrint' compatible, which means it won't work direct with the iPad, this is not to say it won't work at all though, if your printer is wifi enabled then there is an app called 'Epson Iprint' in the App Store which is a free printing app.
Here is a link to a list of AirPrint compatible printers......... http://support.apple.com/kb/ht4356