Both models of AP are supported in ZD 9.6 firmware, so the problem could be IP
connectivity or LWAPP discovery problems. Do you see the APs connect and
upgrade firmware, then not come back? If you can find the APs' IP address, use
SSH to access the AP, login with the ZD admin credentials and issue the cmd:
set director ip a.b.c.d [a.b.c.e]
then
reboot
And this will point the AP to the ZoneDirector, to send it's LWAPP discovery pkts.