Printers can either be connected to your system locally or accessed over a network. To use a local printer, make sure that it is connected to your machine. Shut down the system before connecting a non-USB printer to your system.
You can configure printers with YaST. Start YaST and select in the YaST control center. This opens the main printer configuration window. If autodetection of printing devices fails, click in the dialog to start the manual configuration workflow. Follow the instructions in the YaST online help. If you are not sure which option to choose and which information to enter, ask your system administrator.
After configuring a printing device correctly, you can address it from any application.