If you have a license for Output there is a service called sendToPrinter which allows the selection of a printer protocol, the server URI and the printer name.
I don't believe we have Output. Is there another way?
It depends upon your requirements and considerations such as print volume and skill sets. Here are two ideas:
1) Use the Common convertPDFService toPS to convert a PDF to PS. Use a custom script (or better, a custom DSC) and the Java Print Service APIs (StreamPrintService or PrintService class) to print to a printer that supports PS.
2) Write the PDF documents to the file system and use Acrobat to print. This could be automated to batch print as well.
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I do exactly this with Perl
(you could translate it to VB or C++)