Convert PDF to DST

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It might actually be possible to create embroidery design from a PDF document, provided the file does contain graphics - preferably vector graphics. For this you will need some vector graphics editor that also offers export to some embroidery design files, for example CorelDraw.

If you do not have access to CorelDraw, perhaps try to export the graphics from the PDF document to SVG first  which might broaden your options for the creation of Tajima embroidery design.

Open PDF file    Open DST file