Redhat 8 Printing to HP 6P thru Asante Cable Router Printer Port

Want to setup RH8 to print to HP 6P printer connected to the printer port of Asante Cable Router FR3004LC. I am new to Unix/Linux. Need step by step instruction. Asante is not providing any help. Their answer is:
" The FR3004LC printing function will support UNIX/Linux platforms. The printer will need to be set up in the device list as a PTR device as a remote printing function directed to the address of the FR3000 device installed.
We do not support UNIX/Linux but this has been done by other customers with some UNIX background. Unfortunately we can not provide further guidance on those installations.
Difficulties with all versions of UNIX and other platforms supplied by Microsoft will be experienced if the drivers selected do not support
mono-directional printing, as the FR3000 Cable/DSL device series does not provide for 2-way communication from the printers attached. "

Currently th printing is working well in Win2000 environment.

Thanks