It's not that difficult. The plotters I use (Axidraw, Nextdraw) can not apply any downward pressure unless you install the spring attachment. So the pen falls down under its own weight, which the nib can handle.

Thanks Peter. The algorithm first creates a rgb image and then with help of dithering decides which of the 4 colors each stitch should have.

Thanks! 😊

☺️

Thanks Dennis!

Thanks Agoston! 👋