Sometimes the actual statute serves to provide clarity, so here’s my attempt to help the debate.
With help from “copy” and “paste.” 
The source of the info is:
REGULATION (EC) No 561/2006 OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL of 15 March 2006.
(I’m not shouting, the original is in capitals.
)
I believe the relevant info might be found in:
Article 26(4)
'Where a driver card is damaged, malfunctions, or is not in the possession of the driver, the driver shall:
(a) at the start of his journey, print out the details of the vehicle the driver is driving, and shall enter onto that printout:
(b) at the end of his journey, print out the information relating to periods of time recorded by the recording equipment, record any periods of other work, availability and rest undertaken since the printout that was made at the start of the journey, where not recorded by the tachograph, and mark on that document details that enable the driver to be identified (name, driver card or driver’s licence number), including the driver’s signature.’,
It’s the part I’ve made red that some people seem to miss. 
The part in red seems to me to be the only occasions that a printout is actually required by the Regulations, so could anybody (including the police) please show us how or when a printout is legally required in any other circumstance. 
This bit seems to be of interest too, and it appears just after Article 29:
This Regulation shall be binding in its entirety and directly applicable in all Member States.
Done at Strasbourg, 15 March 2006.
The above is available from the Eur-lex European law website in many official EU languages, and IMHO it might trump company policy, RHA warnings, drivers’ urban myths and other irrelevant stuff, because I don’t think judges look at any of those. 
I’ve expressed no opinion, so please make of it what you will. 