# Generate G-code with third-party software
## Inkscape
Inkscape is a free and open-source vector graphics editor. With abundant plugins, you can easily edit vector images, apply greyscale processing and etc.
**Before starting, make sure you have installed Inkscape V0.92.5.**
Inkscape download link:
**1. Download the following Rotrics G-code extension for Inkscape V0.92.5**
{% file src="" %}
Rotrics G-code Extension for Inkscape V0.92.5
{% endfile %}
{% hint style="warning" %}
:brain: **Note:** the extension only supports the older version such as V0.92.5, if you use the latest version, you may encounter the output error.
{% endhint %}
**2. Install Rotrics G-code extension.**
\*For Windows, copy this extension to the "extensions" folder under Inscape installation directory, normally it should be:
`\Program Files\Inkscape\share\extensions`
\*For Mac OS, copy this extension to the "extensions" folder under Inscape installation directory, normally it should be:
`/Applications/Inkscape.app/Contents/Resources/extensions`
If couldn't find the extension folder, you can find it by clicking **Edit > Preferences > System > Inkscape extension**
{% hint style="warning" %}
:brain: **Note:** Reboot the Inkscape software after installation.
{% endhint %}
**3. Open Inkscape, and create a new A4 page.**
5\. **Adjust image size, ensure it's within the A4 page.**
**6.** Adjust image position, and make sure the image center position is X0 Y0.
7\. Click **`File -> Scripts ->Export to G-code 1.1`**
#### 8. Set write/draw configuration parameters:
* **ON Command** - Pendown height, enter Rotrics Studio drawing height
* G0 Z-
* **OFF Command** - Penup height, 5-10mm higher than the pen down height
* G0 Z-
{% hint style="danger" %}
❗**Waring:** Pen up height must be higher than pen down height, otherwise, it might damage the robot arm. If there is any problem, please power off DexArm immediately.
\*Don't set the other parameters.
{% endhint %}
#### 9. Set G-code file save directory and filename:
#### 10. Click Generate G-code.
## Send G-code with Rotrics Studio
#### 1. Open Rotrics Studio and connect with Dexarm.
#### 2. Switch to **Basic** panel, click HOME to initialize DexArm.
#### 3. Go to **G-code** on the right side.
#### 4. Import the G-code and select the **Pen Holder** module.
#### 5. Click**`Start Send`**button, start writing/drawing.
## Send G-code with touchscreen
1\. Copy the G-code file into the**`g-code`**folder of touchscreen SD card.
2\. Connect the DexArm to touchscreen with a dual type-c cable.
3\. Click Basic->HOME to initialize DexArm.
4\. Click **`SD Card`**, choose your G-code, and click **`Start`** to start writing/drawing.
---
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