how to print to a thermal pos printer?

I had similar problem a while ago (different printer). I find a manual
(with some searching) from the net. With that I figured out the settings
of printer to adjust the COM port settings and then I just printed some
text to printer and used linechange '\n' and carriage return '\r' after
each line. From the manual I then found how to cut the paper. And that
was pretty much it.

If I were you, I would try some search engine, manufacturers page, or
similar to find some documentation about that printer.

Anson,
You can access drivers, technical documents and developer's kit from:
http://www.pos.epson.co.uk/

Boris