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First you'll need to make sure your system has a COM (serial) port. Looks for a port on the pC that has 9 pins (5 on top, 4 on bottom). Get a Null modem DB25-DB9 cable and connect the printer to the PC. That'll take care of the hardware connection. Youll need to know what kind of driver you want to use. POS printers like the Samsung SRP printers either has a windows or OPOS driver. You should have a software you intend to use to print to the printer, so check with the software vendor what kind of driver you need to print. Install that driver, make sure the baud rate on the printer and the driver is matched and your good to go.
On this link;
About half way down are all the drivers/firmware available for your printer (version 3.1.5)
Hope this helps - please post again if you need more info :)