I haven't replaced one on this model, but most are the same. You need to find the screws which let the halves of the printer pivot so that it can be removed. Do not let the gears fall out as some of them may be timed. If you don't feel confident, take it to a dealer.
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If anyone needs programming information for the samsung ER-4940, try here:
http://the-checkout-tech.com/manuals/cashregisters/samsung1.php
Registerman, April 2011
