Printer.
Run 'mkdev parallel'
You will need to know the i/o port (378/278) and the irq (7/5), which you can get from the CMOS, or the jumper settings on the parallel card.
reboot.
Run scoadmin-->printers-->4 printer management.
Add a local printer, give it a queue name, select the model either dumb, or crnlmap and select the device /dev/lp or /dev/lp0 probably.
The crnlmap driver will add a carriage return to every line feed in the printer file. Alternatively, you can change the configuration of the printer to add convert LF to CRLF.

Terminal Server.
I have never installed this particular device.
Install the hardware.
The associated software will either install using 'custom' or have its own installation routine.
The 'custom' program expects the files to be named VOL.000.000, VOL.000.001 etc.
First, start 'custom', either by entering custom at the # prompt, or starting 'scoadmin' and selecting software.
Select install new software, and select either diskette or cdrom for the media. If this works you will only need to answer whatever questions the install program asks.
If you get a message to the effect that the media is incorrect then the software has its own installation.
Very likely, you will copy the media to a temporary location, where you will run the install program (typically ./setup, or ./install.sh)

Once that is installed, you will then need to configure the ports on the terminal server: baud rate, parity, bits, and whether a terminal or printer is attached.