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I would like to know if it is safe to connect the terminals labeled com to the mains ground and the chassis of my printer.
Whether you can ground the common (or 0V) is dependant on the SMPS type or topology - so you need to find out.
I have a similar setup and hooked ground to the chassis but did not connect it to negative. The reason is that will cause your USB and other ports (like uC programming ports) to be referenced to earth ground, which can be problematic.