I am too forgetful. I have resolved this problem before. I was thinking its WEP i used but its not. Here was what i did to resolve similar issue before and I am going to repeat it today
I had enabled WPA2 & AES, 11r, 11k and tunnel on the WLAN ssid which i guess the printer did not like 11r
I will created a new ssid with WPA-Mixed & AES encryption for printers, disables .11r and .11k on the new SSID for printers.
1, printers connects well on new ssid
2, users are roaming and browsing well on old ssid
3, users on old ssid could print on printers on new ssis because on same subnet