I managed to do so, unfortunately not with the epson drivers. The solution is quite simple though. I created a jar that calls:
Desktop.getDesktop().print(file);
From my web programm, when I the invoice print was required, I crate a temp file in pure txt and call the jar to print it.
About the epson documentation, i found very few things that would help. All the mocks are problematic, doesnt work, the same goes for the code examples and eclipse projects that it is available in their example page.
Regards.