Thanks Chaley. That was my first thought to. But disabling the firewall doesn't change anything. All works from a Windows machine so the problem is not with Calibre Companion. After posting I installed a zeroconf browser on an Android tablet and found that Android sees the service for both the wireless connection and the content server, but Calibre Companion on that device still fails to detect either.
I am planning to proceed on the basis that the problem is neither Calibre nor Calibre Companion, which means it is likely a problem with the configuration.
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