If etherfind runs, it is probably OK, but see the FAQ for details. Check that the LaserWriter firmware is Version 2 or later, and arrange for a ROM upgrade if necessary. There won't be any, unless there is a router on the Ethernet. If there is no AppleTalk router, there can be no zones either, and getzones will fail. See the man pages for the many options to atlook - no arguments will show all devices in the default zone.
Next step is to set up lpd spooling.
Set up Printer Spooling. There are several ways to do this, as per the papif man pages. This one is the simplest and most understandable. Create a printcap entry, spool directory, and so on, as per normal. There are more elaborate examples in the papif man pages.