I have zerbra LP2824 printer (second hand, you can pick up one from ebay from 30-80 EUR depending on your luck) https://www.zebra.com/us/en/support-dow ... -plus.html
(Mine has USB and serial connections, and I connect RPI with the printer via USB).
The Zebra Printer mentioned above worked for me out of the box for me with the Rasbpian + CUPs drivers.
I will give you some links which proved very useful when setting up this printer.
This post shows how to print from linux command line, when your printer is already recognized by CUPS
http://rofish.net/2010/12/printing-raw- ... -or-linux/
This is tutorial which I used to set up printer with linux (with CUPS) on Rasbperry pi
http://www.howtogeek.com/169679/how-to- ... -computer/
Mind that CUPS will ask for your rasbperry pi or root password. And mind that you may need to allow CUPs web-interface be accessible not only from localhost.
There's also similar tutorial from Zebra, in case you get lost and need to "triangulate" your installation process
https://support.zebra.com/cpws/docs/cup ... figure.pdf
This guy shows the whole long explanation of how to connect thermal receipt printer to RPI (I didn't try this tutorial, but seems like all steps should result in success).
http://pikiosk.tumblr.com/post/38866317 ... -raspberry
This SO article may prove useful if you're troubleshooting your CUPS setup:
http://stackoverflow.com/questions/3526 ... linux?rq=1
This may help you troubleshooting, as well, as on the bottom of the article it shows how to add your printer user to the group lpadmin, so that you can do actual printing (it's ubuntu, but same applies to Raspbian).
Alltogether I find this is the best and comprehensive list of articles on how to set up POS printer with Rasbperry Pi.