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In the "Thing details" section you have more detailed instructions on how to do that. Basically you take the file you want to print (vector, bitmap...) and use an Inkscape plug-in to translate it to g-code (wich is what the plotter understands). Once you have your g-code, you can use grbl controller (for example) to send it to the arduino. Make sure you read the instructions, and don't hesitate to ask any further questions!