You need to add following lines into /etc/libmap.conf:

# Photo Image Print System (for EPSON bubble jet printer)
[/usr/local/lib/pips/libpm930c.so]
libc.so.6			pluginwrapper/pips.so
libdl.so.2			pluginwrapper/pips.so

Please execute the following command:

    /usr/local/libexec/pips/PM930C/setup

to setup /etc/printcap, make a spool in /var/spool/lpd/ and so on.