You can print many different types of files (such as PostScript, PDF, plain text, images etc) on the Samsung MFP devices using standard CUPS way - directly from the command line interface. The CUPS lpr utility allows you do that. But Samsung replaces standard lpr tool by much more user friendly Samsung LPR program.
To print any document file just type lpr <file_name> from Linux shell command line and press Enter. If Samsung MFP drivers package was properly installed the Samsung LPR dialog will appear.
If you type only lpr and press Enter the Select file(s) to print dialog will appear first. Just select any files you want to print and click Open button.
In the Samsung LPR dialog select desired printer from list, edit printer and print job properties and click Ok button to start printing.
Samsung LPR supports all command line arguments like standard lpr printing utility. You can find the syntax of lpr command line in the Linux system help (e.g. using man lpr command). There is only one specific option: use -o ui=False to run Samsung LPR without any GUI (exactly like standard lpr utility).
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