PlanetPress Suite works with just about any PostScript printer that supports at the very least PS Level 2 (any new printer will be PS level 3-compatible).
If you want to store the form on the device, then you need to make sure it either has a hard drive or a flash memory module. You may also install the form in RAM, but you'll have to do that every time the printer is turned off and back on.
That's pretty much it, really.
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Technical Product Manager
I don't want to achieve immortality through my work; I want to achieve immortality through not dying - Woody Allen