We did a customization to print out an attached PDF File in addition to production papers out of production orders. During this customization we recognized that there is a limitation in the document routing agent to print PDF files if it runs as a service. In the learning portal we found a note to use EMF Printing in this case. 

Please find below the link 

https://learn.microsoft.com/en-us/dynamics365/fin-ops-core/dev-itpro/analytics/er-destination-type-print#pdf-printing

Microsoft confirmed that EMF Printing Feature is only available for Electronic Reporting. It would be great if EMP Printing would be available at printing outside of ER