# 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.** ![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-M5V5srHX2Oc2aDc0MXT%2F-M5VYAHV4uZcYjwRHMIt%2Fimage.png?alt=media\&token=47418585-2e30-4ae7-a9fb-74bd97f24526) \*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** ![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MG3J91xUelSqHyCJyIe%2F-MG3U-JidvqApgP14ZVz%2Fimage.png?alt=media\&token=83f51aa0-398e-4912-a9ce-3387c5253655) ![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MG3J91xUelSqHyCJyIe%2F-MG3UEMWu9E0YP632LeV%2Fimage.png?alt=media\&token=1013b97c-f8b5-49d4-9198-20b9f8787b82) {% hint style="warning" %} :brain: **Note:** Reboot the Inkscape software after installation. {% endhint %} **3. Open Inkscape, and create a new A4 page.**

**4. Import your SVG file.** ![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-M5VbAkY3gh63te1ZOfd%2F-M5VgwQodfjbIM4o5sJz%2Fimage.png?alt=media\&token=791c97c3-3107-49f4-86e7-d6e5ae1e144e) **5. Adjust image size, ensure it's within the A4 page.** ![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-M5VbAkY3gh63te1ZOfd%2F-M5Vg07KbSIWBImxJi8t%2Fimage.png?alt=media\&token=e5553e50-a5e8-4a32-9f27-949bcaf5bbee) #### 6. Adjust image position, and make sure image center position is X0 Y0,

#### 7. Click **`Extensions->Export to G-code`** ![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-M5WCk0GNIF9KkKSG2o_%2F-M5WGJTXAWZUPFLRPgjB%2Fimage.png?alt=media\&token=9a5d1bf0-7996-473a-b5c8-7e0d78e95093) #### 8. Set DexArm write/draw configuration parameters.

* Pen Height Down - writing/drawing start height, fill in the start height value * G0 Z- * Pen Height Up - pen rising height, 5-10mm higher than the start height value * G0 Z- #### **9. Set G-code save directory and filename.**

#### 10. Click Apply to generate G-code. **\*Reference:** ## Adobe Illustrator Adobe Illustrator is a vector graphics editor developed and marketed by Adobe Inc. It can generate writing/drawing G-code for drawing. **Before start, make sure you have installed Adobe Illustrator software.** 1\. Download the following Rotrics G-code Extension for Adobe Illustrator {% file src="" %} Rotrics G-code Extension for Adobe Illustrator {% endfile %} **2. Install Rotrics G-code extension.** ![](https://gblobscdn.gitbook.com/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-M5Uo-zfqyeUz5rXvsOy%2F-M5UoCn50F7oeT_lrDpi%2Fimage.png?alt=media\&token=83103e98-c07b-490d-9de9-d63401cbd7ea) **3. Open Adobe Illustrator and create a new A4 page.** **4. Import your SVG file.**

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. ![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-M7N4atXAK59eK34pE73%2F-M7N5jXkV2Ayj5zZUydw%2Fimage.png?alt=media\&token=bd05f52c-c81e-479c-ac10-b2ab8f53a404) 7\. Click **`File -> Scripts ->Export to G-code 1.1`** ![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-M7N4atXAK59eK34pE73%2F-M7N5utq-zWZ_78a9WYb%2Fimage.png?alt=media\&token=81396894-eb3f-4d2a-afb3-9e4337dc4061) #### 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. ![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MEhD3wgtmKZgRiAdXYE%2F-MEh__AkuLoNWsVtj-vP%2Fimage.png?alt=media\&token=76c4193d-f55f-4a6e-b3a2-039e88bbd153) #### 2. Switch to **Basic** panel, click HOME to initialize DexArm. ![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MEhD3wgtmKZgRiAdXYE%2F-MEhaVLTpkU98Q2r32sc%2Fimage.png?alt=media\&token=86f820e4-e3ec-4592-91c0-56eafc5aabb6) #### 3. Go to **G-code** on the right side. ![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MEhD3wgtmKZgRiAdXYE%2F-MEh_iHGC2pRe8zCogtJ%2Fimage.png?alt=media\&token=3b6ee6ee-1e5d-4a09-b383-7b6f5d2b6b24) #### 4. Import the G-code and select the **Pen Holder** module. ![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MEhD3wgtmKZgRiAdXYE%2F-MEh_nKQoUFknheOdFRd%2Fimage.png?alt=media\&token=f0e42177-701e-439c-ab91-b05e2dfd5f17) ![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MEhD3wgtmKZgRiAdXYE%2F-MEha3LsmtjPzBQ54VNY%2Fimage.png?alt=media\&token=08ff9314-d69d-484f-a367-9542735f70ef) #### 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.