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Is it possible to print a web map directly from the ArcGIS Online map viewer as a PDF?
No, it is not possible to print a web map directly from the ArcGIS Online map viewer as a PDF. The map viewer only uses MAP_ONLY and PNG32 as the output formats.
The map viewer, not the print service, prevents this operation. For a different output type, use a different client or an application with more printing capabilities, such as the following:
• The Basic Viewer application template can generate a PDF of both the landscape and portrait layouts.
• Web AppBuilder for ArcGIS has the Print widget, which allows for a more customized output. For more details, refer to the following Web AppBuilder for ArcGIS help page, Print widget.
For more information about configuring a custom print service with ArcGIS for Server, refer to the following ArcGIS Online Help document, Configure utility services.