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Perhaps it is as simple as turning the iPad to Off, truly Off and shut down, for 5 minutes or 15 minutes or longer, in order for the link between iPad and printer, by wireless, to be 'broken' or superseded or what.
Or you could try turning Off WiFi on the iPad for that long, also.
And perhaps, if those two measures do nothing for the situation, you might need to review
A. what driver version you have on the computer, and whether it is truly well installed, and
B. what app you are printing from on the iPad.
Please let me know what results you get from trying these measures... they will indicate how a solution may be reached that is more elegant than either or any of these possible procedures.
I'm sorry to hear that all efforts so far have failed.
Where did the error message appear, on the computer screen or on the printer itself?
And, it appeared apparently in response to what action or attempted action or task?
The CD should have worked for Windows 7, if it worked for Windows 10... vice-versa would have been different.
And yes, that's sensible of course... it's a cure I have used myself, and I was leading up to it, once I had made sure the error wasn't a code on the printer itself (which usually means a problem only in the printer, not in the software on the computer.)
Thank you for asking your question here at JustAnswer.com.