Epson Printers Quick-Start for Ubuntu 16.10 Yakkety
The linked Linux Tutorials Shows You Step-by-Step How-to Install Epson Printer Ubuntu 16.10 Yakkety Yak 32/64bit GNU/Linux Desktop.
Especially relevant: before to Install the Driver Check on the Download page if your Epson Model is Included in the specifications.
Otherwise Search this WebSite or the Epson Support site with the initials of the Epson model as e.g. “L300″.