As the mechanism used to incorporate pictures into TeX documents depends not on TeX itself, but on the printer driver used by TeX, no single mechanism exists to achieve this. Thus, unfortunately, the procedure varies and is not described here. For details, see [13].
Assuming the hardcopy will be onto a device which supports PostScript or an IBM-3812, then GRCONV should be used to produce an Encapsulated PostScript or PSEG38PP/PSEG3820 file as for the SGML/BookMaster case above.