Using an Email action allows you to send a report to designated email addresses where the email is the report itself.
This function differs from the Email PDF option, because it will send the form as the Email body content, and not as a PDF file attachment.
In order to add an Email Action to your Form, go to Forms > View Form Templates > choose the edit arrow for the template you would like the action added to > Actions tab > + New Action. Then you can select Email in the Action type dropdown.
Once you've edited the settings for the Email Action, then new forms created with the from template will automatically send the report as an email to the specified recipients upon Submission.
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