SAP Print service offers a REST API to create and manage print queues. Once a print queue is created you can send documents to it.
Use the app Manage Print Queues to monitor individual print queues or check the overall status of your print queues.
Connect SAP Cloud Print Manager to your print queues to pull documents from the SAP Print service and send them to your local printer.
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Admin UI - Manage Print Queue
Backend Service - Public API for the consumer App
Connectivity - SAP Cloud Print Manager