Network configuration and printer settings when printing directly from ERP

When using the AP module to run PPR to make payments, is it possible to select a printer (TROY) connected to a PC terminal by cable and print checks directly from the ERP to that printer?

If you have any examples or configuration information, could you please share them?

We have already known that the printer needs to be exposed to the internet such that the ERP Cloud pod can reach it via IPP (Internet Printing Protocol).
And we have understood that either the check printer needs to be behind a client-hosted IPP print server or the printer needs to have built-in IPP functionality.