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There are two ways to generate PDFs from the server/
1) Robot machine, explained here: http://www.seedcode.com/printing-pdfs-filemaker-webdirect/
2) CWP script, explained here: https://www.dbservices.com/articles/how-to-create-a-pdf-from-filemaker-server/
You can also check the new Invoices example coming with MBS Plugin 6.3pr3.
It shows how to create an invoice from records on a server (or client) using MBS Plugin and DynaPDF commands.