DOS itself does not use printer drivers because DOS itself does nothing 'fancy' (e.g. underline).
So hook up your IJ600 to the first parallel port on your AT (the one that gets assigned as LPT1), and at a DOS prompt you should be able to get "hello" to print on your IJ600 by using the following:
C:\>echo hello >lpt1
C:\>echo ^L >lpt1 (where the "^L" is a Ctrl-L key combination that generates a formfeed character)(must be an upper case L)
A lot of DOS programs that have a 'print' function act just like DOS - they send simple text to the printer.
Certain DOS Programs
However, certain DOS programs, such as WordPerfect do need to do 'fancy' thing such as bold, underline, font selection. So those DOS programs will use a printer driver. Each such program uses their own drivers. So for example, the HP Laserjet III printer driver for WordPerfect 5.1 is the file HPLASIII.PRS That file is only 'understood' by WordPerfect. Hardvard Graphics will have its own printer driver for the HP Laserjet III.