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Go to Settings > Printer Settings > Add Printer.

Tap Add Printer.

Select which connectivity of your printer.

Tap on Add Printer to add the printer of your selection

You can physically check if your printer is connected using either USB, Bluetooth, or Wifi/Ethernet/LAN Cables
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Select a Printer Location for your printer or create a new one.

Select the items that you'd like to print on the printer

Select a printing template. For receipt printers, select a receipt template and a bill template. For a kitchen printer, select a docket template.

Click on Save after selecting a template