Did you try the configuration panel? Into the menu, try and find System>Configuration>"Configure my computer" or something like that (my menus are in French). The icon should be a small bluish PC with a red tool across it.
Then in the hardware section, choose the printer of course. I think Mandriva has all you need.
By the way, Linux drivers for Epson printers come from open-source development, from the Gimp-print project (now named Gutenprint I think), and you have no chance of finding them on Epson's web site.
Yves.
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