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How do I immediately open a document in the PDF viewer from a menu entry without going through Document Details?

Hi,
We can use external url for document view function. The format of link is:
http://[your_do_main]/index.php?option=com_edocman&task=document.viewdoc&id=[DOCUMENT_ID]
Thanks
Dam

Hi,  I tried this but I get every time 404 error, page not found.

Tried many different formats, all fail.  Tried HTTPS, HTTP,  with and without &id or &itemid options. 

The only way I could get it to work was to go to the document and copy the link from the  View page which seems not very good way to do it.
https://[our domain]/joomla/index.php/nieuwsbrief-2/gbc-nieuwsbrief-juli-2024/gbc-nieuwsbrief-2024-07/viewdocument/91
 
Isn't it possible to get a simple option in the Menu Item Type for EDOCMAN,  eg. next to Document Details or Document Search a  Document View option ? 
 

Nope, Edocman doesn't have "Document view" menu layout, so we still need to setup external url in this case.
Thanks
Dam