DM-D110 and DM-D210 don't support the multi-byte Japanese characters.

DM-D30 support information about the multi-byte Japanese characters:

	JIS X 0208 -1990			Special characters
Type	Non-Kanji	JIS 1st Std.	JIS 2nd Std.
JIS code	2121h～2840h	3012h～4F53h	5021h～7426h	2D21h–2D7Eh	7921h–7C7Eh	-(∗¹)
SHIFT JIS code	8140h～84BEh	889Fh～9872h	989Fh～9FFCh E040h～EAA4h	8740h–879Dh	ED40h–EEFCh	FA40h–FC4Eh
DM-D30	✔	✔	✔	✔(∗²)	✔(∗²)	✔(∗²)

(∗¹) The character code cannot be specified with JIS code.
(∗²) Only DM-D30-202/212 support the special characters.

DM-D70 support information about the multi-byte Japanese characters:

JIS		Shift_JIS		Shift_JIS-2004
Code range	Type	Code range	Type	Code range	Type
2121-2840	Non-Kanji	8140-84BE	Non-Kanji	8140-877C	Non-Kanji
2D21-2D7C	Special characters	8740-879C	Special characters	877D	Other Japanese characters
3021-4F53	1st Std.-Kanji	889F-9872	1st Std.-Kanji	877E-879E	Non-Kanji
5021-7426	2nd Std.-Kanji	989F-9FFC	2nd Std.-Kanji	879F-889E	3rd Std.-Kanji
7921-7C7E	Special characters	E040-EAA4	2nd Std.-Kanji	889F-9872	1st Std.-Kanji
-	-	ED40-EEFC	Special characters	9873-989E	3rd Std.-Kanji
-	-	FA40-FC4B	Special characters	989F-9FFC	2nd Std.-Kanji
-	-	-	-	E040-EAA4	2nd Std.-Kanji
-	-	-	-	EAA5-EFFC	3rd Std.-Kanji
-	-	-	-	F040-FCF4	4th Std.-Kanji

(∗¹) "㋿" has been added to the special characters. (JIS　2D5E, S-JIS 877D)
(∗²) The following items cannot be displayed in Unicode.

• Character forms expressed using variation selectors

• − Character forms prior to being changed of characters that underwent a sample character change in the revision from JIS X 0213:2000 to JIS X 0213:2004.

• - Ligature

Regarding Kanji command of ESC/POS, refer to ESC/POS Command Reference > Commands Arranged by Function > Kanji commands.