Which model Hardy controllers have printer or relay capabilities?

The Hardy controllers with both relays and serial ports for printer output functions are the HI 2151/30, HI 3010, HI 3030, HI4050, and HI4060 units. 
The HI 6000 series units and HI 200 DNWM have either relays or printer outputs but not both.

The HI 2151/30 series have two standard mechanical relays and optional six solid state relays and bi-directional serial communications that can be configured as a printer output.

The HI 3000 series have optional solid state relays.  These can be ordered as AC or DC relays. The units can be ordered as: none, 4 or 7 relays.  These units have a serial output for printer or scoreboard outputs.

The HI 4050 has a Digital Input/Output (DIO) option with four TTL level outputs that can drive your external relays and has a serial output for printers or scoreboards. 

The HI4060 standard offering has 5 type A mechanical relay outputs and 5 dry contract inputs, and a serial output for printers or scoreboards. 

The HI 6310, HI 6500, and HI 6510 units have a serial printer port but no relay outputs.

The HI200DNWM Devicenet module has two TTL level outputs that respond to its setpoints, but no serial port.
 
For more detailed information on these capabilities on the individual units, please see the related files listed below.