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Lastly below is a little example code to FTP a PDF to a printer (works with most HP printers) as an additional option:

//Close and output PDF document
$pdf->Output('test.pdf', 'F');

$file = 'test.pdf';
$remote_file = 'print_invoice.pdf';

$ftp_server = '192.168.X.Y';  // Printer IP Address
$conn_id = ftp_connect($ftp_server);
$login_result = ftp_login($conn_id, 'test', '');
if (ftp_put($conn_id, $remote_file, $file, FTP_BINARY)) {
    echo "successfully uploaded $file to $ftp_server at ".date('l jS \of F Y h:i:s A')."\n";
} else {
    echo "There was a problem while uploading $file to $ftp_server at ".date('l jS \of F Y h:i:s A')."\n";
}
ftp_close($conn_id);