Auto-Printing to SATO Printers direct from SaaS

Summary:

Client has stated that they would like to auto-print labels at the point of PO Receipt. Possibly using trigger "Create Receiving Receipt Event".
Haven't found much, if anything, on the specifics but does Oracle have a setup guide (identifying the setup steps in Oracle and/or the Sato Printer) that could help move our efforts in the right direction?

Any guidance on this would be greatly appreciated.

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