Depends upon which tcp port number you want to use.
Either set up a remote printer in SCOAdmin using lpr/lpd, add the ip address to /etc/hosts, and then use the host name in the ip address field.
Assuming that scoadmin is the same on Unixware as Openserver, there is a menu ahead of the one you showed in your post that allows you to add support for HP printers, and add a HP printer on port 9100, (options 1 and 2)
Are the print files plain text, or do they have PCL5 escape sequences?
Add the destination name to the list of printer choices in the ERP software.
Adding the entry to the hosts file in either case, is not necessary, you can use the ip address directly in scoadmin, it just makes maintenance easier if you have to change the ip address of the printer at some future date.
Check to see if the print files have carriage returns. If not add "<esc>&k2G" to the printer initialization string.