System 6 and earlier will work fine with that printer. Make sure that you use the System 7 "printer pack" with the later LaserPrinter chooser module, rather than the one that shipped with System 6. Otherwise, when you swap between OS versions, the printer performs a lengthy reset.

The System 7 LaserWriter driver *may* work with System 5.1 or 5, so feedback would be interesting. An excellent purchase, BTW, and cheap to run as long as you turn it off when not being used.