Yes, all you have to do is:
1) Go to the General tab and give your task a name
2) Go to the Triggers tab and scheduled when and how often the action runs
3) Go to the Actions tab and specify what is to be done
I use Irfanview 64. You may need to have the action in quotes as I did, not sure.
Just right click the task and disable it while you are home, then enable it before leaving on a trip.
Edit: not sure about the Epson printer, but for my Canon I have to make sure the printer driver is set to use roll rather than manual and set the media type. Be sure to do a test run before you leave town.