Guess you are asking about FTP-628 or a FTP-6x4 printer mechanism? There are technical reference manuals that describe the interface and expected signal characteristics. Several previous threads at Edaboard, see "Similar Threads" field below, or search yourself.
I'm not aware of ready-to-use reference designs. I believe, the controller can be designed from the scratch based on the reference document, but advanced knowledge of digital and analog electronics is required.