Tony Duell wrote:
The HX20 printer is quite interesting. It's got 4
print solenoids/pins on
a little 'shuttle', spaced 5 characters apart in the same horizontal
line. A motor/scroll cam assembly wobbles this backwards and forwards
across the paper and moves the paper up one dot line for ever complete
movement of the shuttle. The HX20 electronics sends appropriately timed
pulses to the solenoids to put dots on the paper. It is an impact
printer, of course.
The Rockwell AIM-65 printer worked the same way. IIRC, one of the manuals
contained the source code for the monitor ROM, which included the printer
routines.