Ah, I mean, sending data "directly" via Centronix pararrel interface without any filters like ghostscript and/or print servers which can convert inputs to the actual printing language the printer understands.They can, with a little hep - that's what's Ghostscript is for.
gs -sDEVICE=escp -sOutputFile=output.prn input.pdf
One can even throw in resolution of their printer with adding-r240x72
or whatever actual res is for the printer we want to output to.
With ghostscript, it would work.