IP is Internet Protocol. It is the protocol that is used to manage communication on the Internet, along with TCP (Transport Control Protocol). That's why you sometimes see it described as not just IP, but TCP/IP.
IP is also used on most networks these days. So it not only "runs" the Internet, but most home and company networks.
LPR is the printing protocol that works with IP
Appletalk should be obvious. That's the older networking protocol that Apple Macs used. If you don't use old Macs, you can forget about it.
NDS and Bindery refer to Novell networks. Novell used to be the king of enterprise network systems, until they dropped the ball and let Microsoft clean the floor with them. Shame really, as they had great products, but NT and XP have superceded 99% of Novell networks. Rest assured you can ignore NDS and Bindery also.
So, you're on the right track in assuming that you need to use TCP/IP.
When you setup the print server, did you assign it an IP address? This is a string of numbers seperated by a period. 192.168.1.1 is a common example. If you did assign it an IP address, can you remember what it was? We can check to see if your PCs can "see" the print server by "pinging" it. This basically means that you send out some packets to the IP address and wait for a reply.
That's a good start.
Unfortunately, I'm not familiar with the specific products you have, but I'll try my best to help out mate.
Mr Mephisto