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Having a SOHO printer, HP DeskJet 3940 is it possible to print with lpr/lpd on Debian GNU/Linux?

The Debian Wiki says that

LPR. The still commonly used traditional printing system is called lpr which works quite well if you have a postscript printer. Otherwise, it is not very simple to set up and doesn't provide much control for users on the printer settings per print job.

I was unable to find whether this printer speaks the PS language or not.

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Only the LaserJet and DesignJet series support PostScript, but you can use LPR to print US-ASCII text directly, but I'd stick with CUPS.

FYI, the OpenPrinting.org site will instantly provide the info you require, along with how-to's e.g. HP DeskJet 3940

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