Hi, I'm Robert and I'll be helping you with your computer question.
the printers should see the routers so you don't have to put in the ID
if they are not seeing them then there is an issue with either the router not broadcasting its name or the printers not being able to see it.
that can also happen if it is an N only or dual band router with only the N band operating.
I am off for the night but i will be here most of the day Friday starting at around noon central time if not before