In 'Settings/Users/Access Management', enable the right: 'Print summary receipts (non-itemized receipt)'.

In 'Settings/Printing/Receipt', you can configure the default title for a summary receipt.

Once the sale is validated, go to the Payment section and click the 'Non-itemized receipt' button.
Enter the quantity and, if needed, modify the default label that will be printed.
Select the amount to print (Total if a single payment, or choose from the different payments received in case of multiple payments).

Only one summary receipt per payment received can be printed. It is no longer possible to reprint a previously issued summary receipt.