How to add an Epson Dot Matrix Printer to CUPS in RHEL

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Issue

How to add Epson FX2170 Printer?
Does Red Hat provide Epson Dot Matrix FX2170 printer driver?
How to print PDF to Epson LQ-2180C printer?

Environment

Red Hat Enterprise Linux (RHEL) 5, 6, and 7
Common Unix Printing System (CUPS) 1.3.7, 1.4.2, and 1.6.3

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