If the printer successfully prints plain text sent directly to the device then you can use it as a plain text (non-graphical) printer.
You may need to filter the POS output through some software to ensure that
the printer receives both carriage returns and linefeeds at the end of line.
If your POS application expects to be able to perform graphical printing, barcodes etc, you may need to port the driver.
The printer you mention does not seem to support any of the well-know page description languages (Postscript, PCL5, ESC/P, Proprinter, etc) so it may need a specific driver to perform rasterisation for anything other than plain text output.
The primary print system on the Raspberry-pi under Raspbian is CUPS - which has to be installed separately. You may be able to configure your printer as a dumb printer. You would need to do this if your POS application expects to interact with the platform's print system through the services that CUPS provides.
If the POS application passes output through the
lp command, you might be able to ignore CUPS etc and create an
lp script that does what you want.