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Hi @kowjirow,
Yes, you can use [wcpdf_download_invoice] to generate a text linked to the PDF invoice, like “Download invoice (PDF)” or [wcpdf_document_link] to retrieve the document link only, in the case you want to use it in any element you want, e.g. an image. See the following article to learn more: Download Invoice link with shortcode
Please note that, since you will send the link outside the store context (normally, customers need to be logged in to be able to see their documents), you would also need to set the Document link access type as Full, under WooCommerce > PDF Invoices > Status.