Looks like something is not right in the setup. If you see the first line it is printing some control characters. Not sure where it's coming from.
Is the printer setup screen-shot for this Xerox printer?
Most likely it's a font issue.
Also, lets try this:
Output the sales order print to a file.
Go to command line on the server where the file is created.
use the command lp -d melfs1 -s -T postscript <filename>
also, use the command lp -d melfs1 -s <filename>
Check both the outputs and see if the font is correct or is it still jumbled up.
As always, attach the screen-shots for others to get a good understanding of the issue.