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Turn on automated printing in the Dining app
This will be presented when first logging into the app and is also available in the user profile. 
Dining and Meal Order Printers
The Speak2 Dining app is automatically connected to any AirPrinter. This technology from Apple allows for easy setup and connecting to printers from apps. See the link below for printer instructions and a list of compatible printers.
https://support.apple.com/en-us/HT201311
Speak2 recommended printer: We use this for our demonstrations. It's easy to set up and prints 4x6 meal cards.