PS(PostScript) and PCL(Printer Control Language) files are produced by applications using the printer drivers installed on the OS. The files are sent to printers and interpreted for printing. For printing a PS/PCL file, the file should be sent to the printer as is.
Usually, the PS language is supported in laser printers and the PCL language is supported in both laser and inkjet printers. In case your printer does not support PS or PCL format, you need to use the printer driver in your applications that supports the print format of your printer.
$ /usr/bin/lpr -PPrinter_name
$ lpr -Pserver test.ps
$ lpr -dserver test.ps
The print command is different among host type. For a detailed explanation about the command and printer setup, refer to Configuring Remote Printer. For the usage information of the print command on your system, please refer to the OS manual accordingly.