Epsprint is a very simple utility which prints text files on your epson-compatible dot matrix printer.
Download epsprint from ftp.
extract it (e.g. bzip2 -dc epsprint-x.y.tar.bz2 |tar xvf -). If you don't have bzip2, download it from www.bzip2.org.
Compile it (make all).
Install it (make install).
...and test whether epsprint works with your printer (./epstest|lpr).
Everything is AFAIK described in epsprint(1) manual page so read it. If you discover any problem or incompatibility, please let me know. If this program works fine with your printer and 'epstest' was successful, mail me too please. Do not forget to write your printer's name and other useful info.
I am looking for EPSON printer control codes specification or something similar. My printer can do a lot of things (use better fonts, ...) but I don't know how can I use them.