If the printer is not connecting you can try setting using the WPS option on the interface. On the printer please try the setup as follows
» on the top task bar select setup
» setup> wireless setup
» wireless setup> wireless protected setup
» Press the push button option
Follow the steps mentioned on the below article to setup WPS on the modem interface
http://arris.force.com/consumers/articles/General_FAQs/G34-G36-WPS-Push-Button-Connection
its the printer that connects to the network, not vice versa.
If you’re having issues, I’d contact the printer manufacturer for help setting up their device.