Para textos use
\usepackage[monochrome]{xcolor}
Exemplo:
\documentclass[a4paper]{article}
\usepackage{lipsum}
\usepackage[monochrome]{xcolor}
\begin{document}
\color{blue}\lipsum[1]
\color{green}\lipsum[2]
\end{document}
\usepackage{lipsum}
\color{blue}\lipsum[1]
\color{green}\lipsum[2]
Para figuras TikZ use
\selectcolormodel{gray}
Exemplo:
\documentclass[a4paper]{article}
\usepackage{tikz}
\begin{document}
\pagestyle{empty}
\begin{tikzpicture}[radius=0.5cm]
\selectcolormodel{gray}
\fill[red] circle;
\fill[green] (1,0) circle;
\fill[blue] (2,0) circle;
\end{tikzpicture}
\begin{tikzpicture}[radius=0.5cm]
\fill[red] circle;
\fill[green] (1,0) circle;
\fill[blue] (2,0) circle;
\end{tikzpicture}
\end{document}
\usepackage{tikz}
\pagestyle{empty}
\begin{tikzpicture}[radius=0.5cm]
\fill[red] circle;
\fill[green] (1,0) circle;
\fill[blue] (2,0) circle;
\end{tikzpicture}
\begin{tikzpicture}[radius=0.5cm]
\fill[red] circle;
\fill[green] (1,0) circle;
\fill[blue] (2,0) circle;
\end{tikzpicture}
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Referências: how to create PDF in grayscale mode or TikZ figure only?
How to convert external graphics automatically to black white
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