The lpstat command with the -p option can be used to display the list of available printers. You could also use the lpc command.

lpstat -p
. . .
printer HP-Photosmart-C6200-seriesCMD:PCL is idle. enabled since Mon 01 Jan 2016 00:00:01 AM CST
    ready to print

You may want to use the pr command to format a file for printing.

There are a few different commands that can be used to sent print jobs to the printer.

• lp (Line print)
• lpr (Line print request)
• lpd (Line print daemon)

The lpq command can be used to view and cancel print jobs in the print queue. The lprm command can be used to remove print jobs.