Yes. Take a look at file #9991 Print Reports in Text Mode.

>I gave it a try. Here is the test code. What the printer output were the ASCII characters for the command to begin barcode printing and the data that came behind the command. 0x1B is hex for ESC which is needed to get the printer's attention. Is this what you mean by non-printing charaters?
>

lnMargin = 3
>lnLine = 0
>? " "
>? " "
>? " "
>? CHR(0x1B) + CHR(0x28) + CHR(0x42) + CHR(0x0D) + CHR(0x00);
>+CHR(0x05);
>+CHR(0x02);
>+CHR(0x00);
>+CHR(0x7D) + CHR(0x00);
>+CHR(0x00);
>+CHR(0x31) + CHR(0x32) + CHR(0x41) + CHR(0x42) + CHR(0x24) + CHR(0x25) + CHR(0x2E) at lnMargin+76
>lnLine = lnLine+1
>? "This is a Test"						at lnMargin+50 font "Courier New" ,12 style "B"
>lnLine = lnLine+1