「^XA^PH^XZ」または「~PH」コマンド送信で可能です。
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https://www.zebra.com/content/dam/support-dam/en/documentation/unrestricted/guide/software/zpl-zbi2-pg-en.pdf
^PH ~PH
The ~PH command feeds one label after the format currently being printed is done or when the printer is placed in pause.
ATS0210