There are two ways to print from FormConnect when using your iPad. The first is via an AirPrint compatible printer and the second is via a 3rd party app.
Apple maintains a list of AirPrint compatible printers on their web site at http://support.apple.com/kb/ht4356. The advantage of this approach is that you don’t need to install a driver or configure the printer queue and it will automatically recognize the printer when you tap on the print selection from within the FormConnect app.
The second approach is to purchase a 3rd party app that wirelessly connects to a non-AirPrint printer. There are a number of apps on the App store that provide this capability so do a search and find one to your liking.