You need to use
cups. Make sure it is installed (it probably is) and that
cupsd is running. Plug in & turn on your printer.
Now cups has a browser-based frontend: So go to
http://localhost:631
Click "Do Admin Tasks"
Login to cups as "root" with "root's password" (No quotes!)
Go to Add Printer & Follow the prompts.
If your printer is not listed, (and it is not with my (old) version of cups) then you should search
http://www.linuxprinting.org/
I had a quick look there, and it looks as though your printer will work with the driver
eps9high which looks like a driver for an epson dot-matrix printer.
Hope this helps, good luck!