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If you have a pre-printed form you can adjust the alignment of the document to print on the specified form. For example, a pre-printed sales invoice form can be adjusted to align with the document.
To align the form, a pre-printed template or a normal template, needs to be loaded. Then in the template, remove any of the controls that are not available in the pre-printed form. Also, if it is a document that has a list, make sure you adjust the columns to print in the same location of the form. For more information please see Designing Print Templates. After designing, load the template and make sure to overwrite the template if it already exists. You can test this template from the document by printing on a pre-printed form.