Embroidery is harder to estimate than the other forms of printing so the prices below are no more than guides. I will need to see artwork before I could give accurate pricing.
All embroidery has to be digitized. This is where you turn your design into stitches for the embroidery machine. It is a one off cost, so if you need more clothing embroidered in the future, you will not have to pay for digitisation again.
The diagrams below have numbered squares on what could be any type of garment, but in this case is a t shirt.

Position 1 shows an area no larger than 10cm x10cm and is often referred to as FLB or front left breast pocket area. This sizes and position will cost £2.95 to embroider.
Position 2 shows an area no larger than 10cm x10cm and is often referred to as FRB or front right breast pocket area. This sizes and position will cost £2.95 to embroider.
Position 3 shows an area no larger than 30cm x10cm and is often referred to as chest area. This sizes and position will cost £5 to embroider.
Position 4 shows an area no larger than 10cm x10cm and is often referred to as the left sleeve. This sizes and position will cost £2.95 to embroider.
Position 5 shows an area no larger than 10cmx10cm and is often referred to as the right sleeve. This sizes and position will cost £2.95 to embroider.
For more information or help with embroidery click on this link.
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