escpf, escpagef, escpsf, and escpagesf are text filters for Epson compatible 
printers:

escpf:		text to ESC/P code.
escpagef:	text to ESC/Page code.
escpsf:		text to ESC/P code trough ESC/PS mode.
escpagesf:	text to ESC/Page code trough ESC/PS mode.

JIS, and EUC KANJI code are detected and converted automatically.

A simple usage:
Add escp entry to /etc/printcap like:

escp|ESC/P printer filter :\            
        :lp=/dev/lpt0:sd=/var/spool/lpd:\
	:if=/usr/local/libexec/escpf:\
	:mx#0:\ 
	:pw#80:pl#66:\
	:rw:sh:fo:\
	:lf=/var/log/lpd-errs:

after restarting lpd, you can print out text file by typing:

lpr -Pescp textfilename

See /usr/local/share/doc/escpf/escpf.doc (in English), or escpf.euc (
in Japanese) for details.