The pinpad needs to be on either - Always or Never; it cannot be on promt because if the staff do not select Yes or No the Terminal will hang and cause issues, this is the same for the POS side. Prompt on either end is not reccomended.
You can check the Printing Settings on the Terminal by pressing FUNC 1, 6, ENTER
The highlighted option will be the current setting.
To change the settings,
1. Press FUNC, Press 1, 6, Press OK
2. On the touchscreen to navigate the menu, Press F2 DOWN / F3 UP
3. Choose “Never Print” / “Always Print” / “Prompt” Press OK
Generally the settings are 'Always Print' on the on the Terminal and 'Never Print' on the POS (Peripheral).