I just spent 2 days with Kodak trying to get my darn printer to recognize and stay connected to the keyboard. We thought we had it when we did a manual connect, but that lasted less then an hour.
I don't know about Epson but the way Kodak printed wirelessly was by sending an email to the printer, and then it would print out. This worked by using Google Cloud for printing. The printer had it's own address. You may want to look at that if you can't solve your problem.
I gave up and just ran a USB to my computer. I came to the realization that in the 2 years or so I have owned an iPad I have never once had the need to print from it.