How would I print to an Epson TM-U210A receipt printer

How would I print to an Epson TM-U210A receipt printer

I have this Epson TM-U210A receipt printer that I'd like to make use of.
How would I make an application communicate with the printer? Preferably
I'd like this to happen through JavaScript client-side. Is there an API to
do this? Sorry if this has been asked before, but I'm quite new to
alternative printers and couldn't really understand any of the few
articles I've found.