Design of X-Y-Z plotter

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A MAJOR PROJECT REPORT
On
Design of X-Y-Z plotter
Submitted in partial fulfilment of the requirements
For the award of the degree of
BACHELOR OF TECHNOLOGY
In
Electronics & Communication Engineering
By
G.Rajesh (Regd No. 16895A0402)
Under the guidance of
Dr.N.Dinesh Kumar (HOD)
Professor
DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

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A MAJOR PROJECT REPORT
On
Design of X-Y-Z plotter
Submitted in partial fulfilment of the requirements
For the award of the degree of
BACHELOR OF TECHNOLOGY
In
Electronics & Communication Engineering
By
G.Rajesh (Regd No. 16895A0402)
Under the guidance of
Dr.N.Dinesh Kumar (HOD)
Professor
DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

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DECLARATION
I hereby declare that project entitled “Design of X-Y-Z Plotter” is bonafide work duly
completed by me. It does not contain any part of the project or thesis submitted by any other
candidate to this or any other institute of the university. All such materials that have been
obtained from other sources have been duly acknowledged.
G.Rajesh Regd No. 16895A0402

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DEPARTMENT OF ELECTRONICS & COMMUNICATION ENGINEERING
CERTIFICATE
This is to certify that the thesis work titled “Design of X-Y-Z Plotter” submitted by
Mr. G.Rajesh (Regd No.16895A0402) in partial fulfilment of the requirements for the award
of the degree of Bachelor of Technology in Electronics & Communication Engineering to the
Vignan Institute Of Technology And Science, Deshmukhi is a record of bonafide work carried
out by him/her under my guidance and supervision.
The results embodied in this project report have not been submitted in any university for the
award of any degree and the results are achieved satisfactorily.
Dr.N.Dinesh Kumar Dr.N.Dinesh Kumar
Professor Professor
Head of the Department
(External Examiner)

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ACKNOWLEDGEMENT
The successful completion of any task would be incomplete without mentioning the
name of those persons who helped to make it possible. I take this opportunity to express my
gratitude in few words and respect to all those who helped me in completion of this project.
We thank our beloved Chairman, Dr. L Rathaiah, who gave us great encouragement to work.
We thank our beloved CEO, Mr. Boyapati Shravan, We remember him for his valuable
ideas and facilities available in college during the development of the project.
It’s our humble pleasure to acknowledge our deep senses of gratitude to our guide
Dr.N.Dinesh Kumar(HOD) for his valuable support , constant help and guidance at each and
every stage without which this project would not come forth.
We would like to thank our guide of the project, DR.N. Dinesh Kumar (HOD) who has
invested his full effort in guiding the team in achieving the goal.
I also register my sense of gratitude to our principal Dr.D.Sukumar for his immense
encouragement that had made this project successful .
I would also thankful to my friends and family for encouraging me during this course of
project.
Last but not least I would like to thank “Vignan Institute of Technology and Science”
for giving this opportunity to undertake the project.
G.Rajesh Regd No. 16895A0402

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LIST OF ABBREVIATIONS:
3-D - three dimension
CNC - Computer Numerical Control
GRBL - G- code Interpreter
G-Code - G code is the Generic Name for a Control Language for
CNC
EMC - Enhanced Machine Controller
SVG - Scalable Vector Graphics

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CONTENTS
Acknowledgement v
List of Abbreviations vi
List of Figure vii
Abstract 1
CHAPTER-1
Introduction 1
1.1 Cost 2
CHAPTER-2
Literature Review 4
CHAPTER-3
Block Diagram 5
3.1 Explanation of Hardware Block 7
3.2 Software 20
3.2.1 GRBL Software 20
3.2.2 MakerCam Software 21
3.3 Implementation 23
3.3.1 Process 25
3.3.2 Motor Housing 27
3.3.3 Frame and Screw 28
CHAPTER-4
Result and Discussion 49
CHAPTER-5
Conclusion 50
REFERENCE 52

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LIST OF FIGURES
SL.NO FIGURE PG. NO
1 Block Diagram 5
2 Arduino Uno 7
3 CNC Shield V3 12
4 Big Easy Driver Board 13
5 GT2 Pulley 15
6 GRBL Plotter 21
7 Work Flow of XYZ Plotters 29
8 Frame of Plotter 28
9 X-axis motor 30
10 Y-axis motor 31
11 Z-axis motor 32
12 Maker Cam Software 43
13 GRBL Controller 45
14 Xloader 45
15 RESULT (Output) 49

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ABSTRACT
The main objective of this project is to design a low cost three axis(X-Y-Z) plotter using
stepper motor, micro controller, motor control software.
The invention of the X-Y-Z plotters is to record or plot three-dimensional data on a
cartesian coordinate system. This study emphasizes the fabrication of a XYZ plotter by using
mechanism from 3D Printer and microcontroller system (Arduino) to control the movement of
XYZ axis.
Modelling and analysis on X-Y-Z plotter is carried out through the computer linked with
the Arduino software. It is executed through the algorithm and G-Code and C programmin

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CHAPTER-I
INTRODUCTION
Problem Statement:
Despite the fact that idea of CNC based machines was created in mid-twentieth century
and has experienced numerous improvements, the cost is an imperative factor that stays
unchanged. Because of the high cost of these machines many are not ready to possess one
despite the fact that they have to do some valuable machining operations.
INTRODUCTION
First of all we have to know what CNC is. CNC is an acronym for Computer Numeric
Control where less human interaction with high precision plotting jobs can be done. With the
help of CAD (computer aided design) or CAM (computer aided manufacturing) programs, a 2-
D or 3-D version of any image can be implemented on a plain surface. This image is later
translated to extricate the orders required to work a specific machine by means of a post
processor, and at that point stacked into the CNC machines (XYZ plotter) for creation.
MOTIVATION:
Low cost CNC machines are perfect for offering preparing students especially in the
field of Engineering on the grounds that the cost and upkeep of the machine is low. As the
utilization of cell phone is expanding step by step, interfacing the machine with cell phones
utilizing Bluetooth network makes it easier to understand. The littler size make it compact,
portable and the segments can effortlessly be dismantled or gather. The size, space and vitality
required for the machine is additionally lessened. It presently requires just less material and
parts to make the machine, consequently cutting down the cost extraordinarily.

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Cost
Sr. No. Part Name Quantity Price (₹)
1. Arduino Uno 1 520
2. CNC shield 1 550
3. CD-Drive 1 1,112
4. Jumper wires set of (12)
(Female-male)
4 100
5. Strip wires set of (12) 4 12
6. Nut & bolts, Screws, and
other mechanical components
20 2000
7. Stepper motor drive and
stepper motors
4 2430
8. Plywood planks 2 600
Total 38 7324₹
Indirect Cost:
Sr. No. Parameter Cost (₹)
1. Transportation cost 240
2. Project report cost 400
Total cost 640 ₹

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Grand Total:
Grand total = Direct cost + Indirect cost
= 7,324 + 640
∴ GrandTotal = 7964 ₹

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CHAPTER-II
LITERATURE SURVEY/PRIOR ARTWORK
CNC stands for “Computer Numeric Control” and typically refers to a machine whose
operation is controlled by a computer. The most common usage of CNC, and the one relevant to
us, is the name given to devices that, under computer control are able to cut, etch, mill, engrave,
build, turn and otherwise perform manufacturing operations on various materials. Motion is
controlled along multiple axes, normally at least two (X and Y) and a tool spindle that moves in the
Z (depth). The position of the tool is driven by direct-drive stepper motor or servo motors in order
to provide highly accurate movements, or in older designs, motors through a series of step down
gears. Open-loop control works as long as the forces are kept small enough and speeds are not too
great. On commercial metalworking machines, closed loop controls are standard and required in
order to provide the accuracy, speed, and repeatability demanded.
Typically a XYZ plotter (CNC machine) has the ability to move a cutting or 3D
printing head in 2 to 6 axes, meaning that it can position that tool head at a precise point
in or on the material to create the cut or operation desired at that point. By moving the
head through multiple points, the cutting head can cut or sculpt the design represented
by a data stream of positioning points being sent by the PC. By controlling a XYZ plotter
(CNC machine) through a PC it is possible for the user to design a product on-screen,
convert it to CNC-readable code and then send that data to the XYZ plotter (CNC
machine) for it to produce a physical copy of the item designed.

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CHAPTER-III
BLOCK DIAGRAM
Block Diagram
Fig1.Block diagram of XYZ plotter

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HARDWARE REQUIREMENTS:
1. Arduino
2. CNC Shield v3
3. Motor Driver
4. CD/DVD driver
5. Smooth rod
6. GT2 Pulley
7. GT2 Timing belt
8. Servo motor SG 90
9. Wood
10. Connecting wires
11. Screws
❖ Other Tools Required
1. Screwdriver
2. Solder
3. Cutting tool
4. Glue
5. Drilling machine

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SOFTWARE REQUIREMENTS:
1. Maker cam software
2. GRBL Controller Software
3. XLoader
3.1 Explanation of each Hardware block:
3.1.1 Arduino Uno:
Arduino/Genuino Uno is a microcontroller board based on the ATmega328P
(datasheet). It has 14 digital input/output pins (of which 6 can be used as PWM outputs), 6
analog inputs, a 16 MHz quartz crystal, a USB connection, a power jack, an ICSP header
and a reset button. It contains everything needed to support the microcontroller; simply by
connecting it to a computer with a USB cable or power it with a AC-to-DC adapter or battery
to get started [2]. The Uno differs from all preceding boards in that it does not use the FTDI
USB-to-serial driver chip. Instead, it features the Atmega16U2 (Atmega8U2 up to version
R2) programmed as a USB-to-serial converter. To get communication between the two
Arduinos, it is possible to chain them together in such a way as. For many projects, it will
be useful to have Arduino-Arduino communication. For example: having one Arduino to
run motors and having another sense the surroundings and then relay commands to the other
Arduino.
Fig2. Arduino UNO

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Memory: The ATmega328 has 32 KB (with 0.5 KB used for the bootloader). It also has 2
KB of SRAM and 1 KB of EEPROM (which can be read and written with the EEPROM
library).
ATmega328: The ATmega328 is a single-chip microcontroller created by Atmel in the
megaAVR family.
AVR: AVR is a family of microcontrollers developed by Atmel beginning in 1996. These
are modified Harvard architecture 8-bit RISC single-chip microcontrollers.
Features
Microcontroller : ATmega328
Operating Voltage : 5V
Input Voltage : 7-12V
Input Voltage (limits) : 6-20V
Digital I/O Pins : 14 (of which 6 provide PWM output)
Analog Input Pins : 6
DC Current per I/O Pin : 40 m A
DC Current for 3.3V Pin : 50 m A
Flash Memory : 32 KB
SRAM : 2 KB (ATmega328)
EEPROM : 1 KB (ATmega328)
Clock Speed : 16 MHz
Length : 68.6 mm
Width : 53.4 mm

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3.1.2 Stepper Motor:
Stepper motors are used for their high working ability and precision level such as the
one we are building for our XYZ Plotter (CNC machines) project. Unlike DC motors, the
stepper motors are brushless, synchronous electric motors that can divide a full in both
directions. It has a capability of holding torque at zero speed, and precise digital control
without any feedback system depending on the overall size of the project and application.
The stepper motors are constant power devices. As speed increases the torque decreases, so
we'll have to try to find a happy medium for the need to drive our CNC machine. Stepper
motors come in different types and multiple coil winding. Unipolar stepper motors are such
types of motors which are easy to drive and having comparatively low torque and speed, on
the other hand bipolar motors are hard to drive but have high torque and high speed. We are
looking for a motor with high speed and high precision capabilities and could carry a
reasonably sized object-so the bipolar would be a convenient choice. Since we have an
available transformer that allows 24V, we'll look for that with our motors. We will be using
a 2A driver board so the motor should only take 2 amps of current per phase. Micro stepping
with 1.8 degrees and 200 steps per revolution would be great for speed and also the precision
that we wanted.
Stepper motors are the most adequate for tasks like precise cutting, plotting, measurement
and motion controlling. This is why we used NEMA 17 stepper motor in our machine.
Stepper motors are brushless and synchronous. Stepper motors can partition a full turn into
a large number of steps. This allows for precise control without any feedback system
depending on the size of the project and application. The stepper motors are constant power
devices. As speed increases the torque decreases, so we'll have to try to find a happy medium
for the need to drive our CNC machine. Stepper motors come in different types, unipolar
which are easy to drive but have low torque and speed, and bipolar which are hard to drive
but have high torque and high speed.
As we have used NEMA 17 stepper motor which is high in speed and precision capabilities.
The load capacity of this motor 5.6lbs or 2.5kgs approximately. Our available transformer is
of 24V and we have used 2A driver board so that our motor only takes 2 amps of current per
phase

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Fig. Stepper Motor Nema 17
Specifications
• Size: 42.3 mm square × 48 mm, not including the shaft (NEMA 17)
• Weight: 350 g (13 oz)
• Shaft diameter: 5 mm “D”
• Steps per revolution: 200
• Current rating: 1.2 A per coil
• Voltage rating: 4 V
• Resistance: 3.3 Ω per coil
• Holding torque: 3.2 kg-cm (44 oz-in)
• Inductance: 2.8 mH per coil
• Lead length: 30 cm (12″)
• Output shaft supported by two ball bearings
Dimensions
The following diagram shows the stepper motor dimensions in mm. The dimension
labeled “length” is 48 mm. The output D-shaft has a 5 mm diameter with a section that is
flattened by 0.5 mm. This shaft works with our 5 mm universal mounting hub.

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Stepper Motor Applications
Stepper motors are generally used in a variety of applications where precise position control
is desirable and the cost or complexity of a feedback control system is unwarranted. Here
are a few applications where stepper motors are often found:
• Printers
• CNC machines
• 3D printer/prototyping machines (e.g. RepRap)
• Laser cutters
• Pick and place machines
• Linear actuators
• Hard drives

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3.1.3 CNC Shield:
A CNC shield is inserted to the Arduino microcontroller. Stop and connection of
stepper drivers easy. It is compatible with the G-Code interpreter firmware called GRBL. It
supports maximum of four stepper drivers to run four stepper motors. It can support a
maximum of 36 volts and setting the micro stepping is easy with a shield.
Fig.3 CNC shield V3
3.1.4 Motor Driver
Definition of Big Easy Driver:
The Big Easy Driver is a stepper motor driver board for bi-polar stepper motors up
to 2A/phase. It is based on the Allegro A4983 or A4988 stepper driver chip, which is the
next version of the Easy Driver board. This design is robust enough to handle most medium-
sized stepper motors.

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Fig.4. The Big Easy Driver board
Setting up the BED to drive a 6-wire stepper motor
By cycling power between the four half-coils in sequence to rotate the magnet in the
motor, the BED controls stepper motors. Because of the need for a 6-wire unipolar stepper
motor to have its centre tap wires connected to the positive voltage source, this connection
is made slightly more complicated. Moreover, because of the low resistance windings used
in stepper motors, care must be taken to make sure that the current delivered to the board
does not exceed 2A. The basic wiring diagram is shown below figure.
Fig5. Diagram for Minimal Wiring Configuration
The Coils of the stepper motor are labelled A and B respectively. These connections
are made as shown to the board. To step the magnet inside of the stepper motor, these

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connections are what are used. At in the upper right hand corner of the board, the positive
and negative power connections to the board can be seen. This takes a 7V to 35V power
supply (ideally between 8V and 30V) at up to 2A. We see connections to a microcontroller
or signal generator at the bottom. These connections are what control the motions of the
motor. For each rising-edge pulse received by the step pin the controller cycles the A and B
connections to make a step of the motor. This step must be greater than 3Vpp and must have
a frequency that is compatible with the stepper motor attached to the board.
Specifications:
• Simple step and direction control interface
• Five different step resolutions: full-step, half-step, quarter-step, eighth-step, and
sixteenth-step
• Adjustable current control lets you set the maximum current output with a
potentiometer, which lets you use voltages above your stepper motor’s rated
voltage to achieve higher step rates
• Intelligent chopping control that automatically selects the correct current decay
mode (fast decay or slow decay)
• Over-temperature thermal shutdown, under-voltage lockout, and crossover-current
protection
• Short-to-ground and shorted-load protection
3.1.5 CD-ROM carriage
CD-ROM consists of a stepper motor having lead screw which guides the carriage forward
or backward.
3.1.6 GT2 pulley
For precise linear motion control, GT2 belts and pulleys offer excellent precision at a great
price. This pulley is meant for use with GT2 6mm wide belts only. This pulley has 20 teeth,
and a 5mm inner bore. Two set screws can be used to attach it firmly to any 5mm diameter
shaft such as one on stepper motors. Full aluminium construction means these are very light
and very durable.

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General Specification:
• Precision CNC machined.
• Material: Aluminium Double Flange.
• Bore Diameter: 5mm.
• Outer Diameter: Φ16mm.
• Tooth Number: 20.
• Tooth Pitch: 2mm.
• Length: 15.25mm.
• M3x4 Set Screws 2x.
Fig.GT2 Pulley
GT2 Timing belt
The GT2 series of belts are designed specifically for linear motion. They use a rounded tooth
profile, with 2mm pitch, that guarantees that the belt tooth fits smoothly and accurately in
the pulley groove, so when you reverse the pulley direction, there is no room for the belt to

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move in the groove. Belts are supplied as one length which is easily cut to the required
length. Work with GT2 pulley for most variants of 3D printer, CNC machine, robotics and
other linear motion designs. Reinforcing Cords are Fiberglass (belting can be easily cut with
regular scissors).
• Belt Pitch: 2mm.
• Belt Width: 6mm.
• Length: 1 meter.
• Shape: Open Timing Belt.
• Belt Height: 1.38mm.
• Tooth Height: 0.75mm.
• Breaking Strength: 124 lb / 56kg.
• Working Tension: 6.25 lb / 2.8kg.
Fig.GT2 Timing belt
SK16 Linear ShaftHolder
Anodized Aluminium Alloy SK Series Shaft Holder is designed for use in small CNC
machines, linear stages, 3D printers and other devices that utilize linear shafts. Used to fix
the both sides of linear rail shaft.

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• SK16 for shaft diameter ∅16mm.
• Precision CNC machined Hex type bolt for clamping the shaft.
• Silver brushed aluminium finish.
• Perfect for your DIY CNC routers, mills, lathes.
• Suits X, Y or Z axis linear motion application.
Fig.SK16LinearShaft Holder
SC10UU10mmBearing Block
A 10mm bore linear slide bearing for use on hardened steel shafts. Ideal for small
CNC applications, robotics, 3D printer as well as X Y Z tables.
A 10mm bore linear slide bearing for use on hardened steel shafts. Ideal for small
CNC applications, robotics, 3D printer as well as X Y Z tables.

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• Precision CNC machined
• 4 rows of ball bearings for extreme precision
• Rubber seals to prevent debris entering the the ball bearings
• Silver brushed aluminium finish
• Threaded mounting holes
• Perfect for DIY CNC routers, mills, lathes, 3D printers
• For 10mm shafts, suits for X, Y, Z axis linear motion control
Fig.SC10UU10mmBearingBlock
HardenChrome SmoothLinear ShaftØ10mm/L500mm
Linear Shafts have high surface hardness, exceptional straightness and smooth surface finish
which are the basic needs for linear ball bushing application. The linear shaft adopts high
carbon chromium steel as the raw material. The surface-hardened layer is equivalent to a
protective layer, achieving a thickness of up to 2.5mm. The shaft surface features high
smoothness, good touch and small friction coefficient. In addition, the product is very
straight with high dimensional accuracy. This Linear Shaft is a high-precision shaft that can
be used with slide bushing or any other bearings. Ideal for robotic, 3D printers and CNC
router machine.

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• Diameter: Ø10mm.
• Length: 500mm.
• Main Material: CF53.
• Heat Treatment: High Frequency Induction hardening.
• Hardness: HRC58-62.
• Surface Roughness: Polished, Ra<= 0.8μ.
• Shaft Straightness: Within 50μ per 300mm.
• Tolerance: G6/H6.
• Corrosion Protection: Hard Chrome Plating.
Fig. HardenChromeSmoothLinearShaft

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3.2 SOFTWARES
The software’s that are required for this project are
1. GRBL software
2. MakerCAM software and
3. XLoader
3.2.1 GRBL software:
GRBL Controller
Introduction Many people use GRBL in DIY CNC Controller. The software runs the
machine very smoothly with excellent acceleration & deceleration control. GRBL
looks for lines of G-code passed over USB and also manages all of the timing
necessary which allows for the machine controller to be computer agnostic.
Definition:
An open source, embedded, high performance g-code-parser and CNC milling
controller written in optimized C that will run on a straight Arduino.
Reason to choose Arduino Now-a-days, Arduino is one of the most available
platforms, which is familiar by people with the hardware and IDE. Moreover, its low
cost minimizes the barrier to entry for CNC motion control. Furthermore, the
proliferation of Arduino allows for widespread adoption of GRBL. Using the Arduino
platform aligns with the larger maker movement of democratizing fabrication.
Features some important features of GRBL are:
• It enables communication over USB.
• GRBL has many advanced parameters that many beginners will not need.
However, these functions allow the user to grow into using the full capabilities
of their machine.

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Fig6. GRBL Plotter
3.2.2 MakerCAM
MakerCAM is a Computer Aided Manufacturing (CAM) program with some basic
vector drawing capabilities. MakerCAM is a web based CAM program. Simple by design,
MakerCAM allows us to produce toolpaths for use with 3 axis CNC machines such as
Shapeoko, Probotics, Zenworks CNC, ShopBot, or any other 3 axis machine that accepts
standard RS274D Gcode (most hobby/small business CNC machines accept this.)
Features
• arbitrary profiles, pockets, and drilling operations
• true shape nesting
• automatic island detection
• sketch-to-CAD tool for easy prototyping
• SVG import and export

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MakerCAM will also process an entire selection and cut it one layer at a time , this means
that if for example, multiple pockets are selected, it will cut one layer of the first, then lift
out, move to the next, lower, cut it, lift out, and repeat until it resumes at the next layer of
the first path. This is just as slow as it sounds and should be avoided so as to save time, wear
and tear and unnecessary movement. There are post-processors which will address this.
Fig.3.2.1 MakerCAM tool bar
3.2.3 SVG
Scalable Vector Graphics (SVG) is a World Wide Web Consortium (W3C) standard for
portraying two-dimensional vector picture records. Vector pictures comprise of shapes, line
vectors and style data rather than the varieties of pixels accessible in raster pictures like
JPEG or PNG. SVG records are ASCII content reports in XML arrange, and can be
controlled with a drawing project, (for example, the open source editorial manager Inkscape)
or with a content manager as plain content. The open standard and XML arrange permits the
documents to be scanned in as content and afterward parsed into a usable information
structure by our image conversion software.

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3.3 IMPLIMENTATION
This proposition diagrams the arranged development of a three-axis Computer
Numeric Control (CNC) machine, with the end goal of rendering two dimensional vector
designs. The CNC machine and control programming will take vector picture contribution
to the type of Scalable Vector Graphics (SVG) records, and render the picture onto a
medium. The medium will be a level surface, for example, traditional paper, white board, or
light receptive surface. The machine will have the capacity to proceed onward three
tomahawks and will (if configuration time licenses) be equipped for drawing with different
instruments, i.e. pencil, laser, and so on. The machine ought to meet the objectives of
adjusting high exactness and speed, utilize constrained assets and however many reused parts
as would be prudent. Here is the basic work flow char
FLOW CHART

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The image conversion software will take SVG image file on standard input and
output G-code on standard input. The Python programming language has been chosen to
write the software, due to ease of use, ubiquity, and integration as a scripting language in
third party applications such as Inscape and EMC. Our algorithm for conversion will consist
of several conversion stages, each stage providing a transformation towards G-code. The
first step will be to de-sugar the SVG file. SVG is a complex format, allowing advanced
constructs like embedded bitmap images, text and font effects, and stroke and fill styles. To
make the rendering feasible, all the extraneous elements will be removed or simplified to
basic paths. Some of these simplifications, such as text to path conversion of text or polygon
to path conversion, may be performed as scripted actions inside the Ink scape editor. This
step may consist of several independent reductions. Once the SVG file has been simplified,
the resulting XML will be parsed into a data structure consisting of a set of paths.
A series of object classes will be defined to provide a convenient storage medium for
the variety of paths descriptions used (e.g. Bezier curves, simple Cartesian lines).Next, the
paths will be ordered into a render priority queue. One simple algorithm would be to define
a starting location for the write head, locate the path closest in distance to this location, and
add it to the render queue. Calculate the location of the write head at the end of this path,
and add the next nearest path from that location. Repeat this process until there are no line
segments. This greedy algorithm should provide good performance by limiting movement
between paths. Drawing closely located elements would also provide an aesthetically
pleasing rendering process, as the write head will not simply scan down the page, but instead
render the drawing in a more varied way. Finally, the priority queue will be used to generate
the actual G-code paths. Each path will generate a pen down command and a sequence of
movement instructions, followed by a pen up command a move instruction to the starting
location of the next path. G-code supports a variety of control codes, and will be better
understood once we have written a series of test G-code scripts. The completed G-code
instruction file will be output on standard input.

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Our work procedure had various steps including cutting, drilling, grinding and most
of all measuring.as we have used ply-woods for our machine, the wood chunks were cut to
the required dimensions and had good enough square shaped hole for stepper motor
mountain. We used rail and wheels to support our X and Y axis movement.
3.3.2 Motor Housing
The motor housing will be very basic design with a plate that has holes for mounting
a stepper motor to the plate. There will be a hole that will hold the stepper motor to poke
through to the other side and move freely. Beside the stepper motor, there will be a gear
mounted to a screw on one side and a shaft on the other side. The shaft will be inserted into
a hole in the plate next to the stepper motor shaft which we will also mount a gear onto. We
have also welded a 8mm SS rod with the shaft of our motor. There are also some
intermediary gears between the stepper motor and the screw gear if necessary to reduce
torque by gearing down to the screw gear, or gearing up to the screw gear to increase the
speed at which the screw rotates. We will base our gearing around the abilities of our stepper
motor. Each axis (X, Y,Z) will have a motor housing unit.
Fig7. Work Flow of a XYZ plotter

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3.3.3 Frame and Screw
Our Plotter is created in such a way which can draw or drill or engrave in a canvas
or a given flat surface. Our primarily tested canvas is 12 inch by 12 inch. It is set in a way
on purpose so that the machine can travel and exceed 12 inch on both sides. Hence our
machine has the ability to travel 15 inch, therefore it has an edge to travel 1.5 inch extra in
both sides. The figure below illustrated base of our machine.
Fig 8. Frame of Plotter
The wooden plate that is shown in this figure is the lower part or base part of our
machine. The size of this plate is 24X24 inch. The whole machine is held by this part. The
X axis and Y axis stays on this part. We have installed a rail so that the X axis can move
freely. The X axis plate also has two pair of wheels so that it stays in base plate rail and does
not wobble. The rails are also 24-inch-long made of aluminium. We have tried to make the
movement along X axis and Y axis as smooth as possible. Though our plate is made of wood

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and a bit heavy, our prime concern has always been to make our motor movement precise
and plates to be strong. So that it can take any load and drill any object. Also to keep in mind,
as our machine X and Y axis is heavy; our motors will need high torque to move the plates
forward and backward. The figure below shows X-axis of our machine.
Fig 9. Frame of Plotter
PICTURE X AXIS

30
Fig 9. X-axis motor
On the upper part of our X-axis, we have installed Y- axis. The figure below shows our
Yaxis. This axis plate will also work as our engraving canvas. This is in brief full picture of
our machine.

31
Fig 10. Y-axis motor
On the upper part of our X-axis, we have installed Y- axis. The figure below shows our
Yaxis. This axis plate will also work as our engraving canvas. This is in brief full picture of
our machine.

32
Picture of Z-axis
Fig 11. Z-axix motor

33
3.3.4 Fabrication Steps
1. Our Y- axis can also move along X-axis through sliding rail. Our Y-axis is 12X12inch in
size. For the Y axis two rails are kept at a distance of 11inch having a length of 12 inch
each. As the X axis two rails are bolted with our base plate and Y-axis plate forms a bridge
between the y axis rails.
2. The Z axis is assembled next with stepper motor on top, another 8mm ss lead screw
coupled to the motor shaft, ball nut passed over through it and an end bearing keeps it
aligned straight which is stationed with a hooker. The spindle mount plate is fixed to the
ball nut. The linear slides are fixed at the ends for smooth up and down motion. Limit
switch is fixed at the top and Grooved bearings are fixed at the back of the plate.
3. Next step is to mount the X axis stepper motor with 8mm SS steel attached. We have
made a square hole plate to mount our motor at the base plate. This 5inch square shaped
hole is made of ply wood. It has the ability to hold a motor strongly. We have designed it
in such a way so that the motor stays fixed and later on we can get rid of the part. The
motor shaft has a coupler which helped us to make connection a 8mm ss steel rod. We
have made the rod connection with lower part of X-axis plate with a screw nut. Hence
when the motor starts revolving clockwise or counter clockwise, the screw nut goes
forward or backward as directed so that the X-axis goes forward or backward. Idler
bearings to the X axis plate (back plate). The X axis plate has wheels underneath, at the
corner. The wheels will be stationed with base plate rails are later joined together with a
distance equal to the width of the X axis rail. The Limit switches are fixed at the bottom
ends of one of the X axis plate.
4. Next step is to lay the rail over the Y axis rails such that the top grooved bearings lay
exactly over it and move the machine back and forth for alignment. If so the bottom
grooved bearings are installed at the bottom of the Y axis plates for tightening.
5. Next step is to move all the axis of the machine for checking the alignment. If it is free
to move belts are installed for X and Y axis.
6. All the electronics are kept in a box. Emergency breaker is also fixed with another
switch

34
3.3.5 SOFTWARE INSTLLATION:
Till now all the hardware is assembled and now only one thing is remaining i.e.
installing software’s to run the project. The software’s that are required for this project
are MakerCam.com and Grbl software.
XYZ Plotter machine runs on a programming language called as “G-codes”. The
MakerCam itself converts respective shape into G-codes but Arduino has a difficult time in
interpreting G-codes. Thus G-code interpreter program is essential called as Grbl.
3.3.5(a) MakerCam:
The Grbl Controller software requires G-Code converted images. If you would
like to create your own images, you will need to convert your image to SVG first. Then
you can go to the website makercam.com and upload it. Alternatively, the MakerCam
website also allows you to insert basic shapes by going to “Insert” and then selecting
your desired shape.
STEPS:
Step #1:
Open makerCAM.com. Zoom out until you can see the origin.

35
Step #2:
Select Insert -> Rounded Rectangle. When the dialog box comes up, input 3.5 for
both the length and width. leave the radius as 0.2. Click OK. You now have a rounded
rectangle! Move the rounded rectangle so the bottom left corner is on the origin (0,0).
Step #3:
Select Insert -> Rounded Rectangle. When the dialog box comes up, input 3.125 for
both the length and width. leave the radius as 0.2. Click OK. You now have another
rounded rectangle! Move the rounded rectangle so the bottom left corner is slightly inside
of the bigger rectangle.
Step #4:
Select the pencil tool from the toolbar in the top left corner of the screen. Use it to
draw the first letter of your last name. Draw it in block style. It might take a few tries. If
you mess up, switch to the pointer tool, select your line and press 'delete' on your
keyboard. Once you have a rough shape of your letter, take a step back and have a look. A
little rough isn't it? That's OK, it's a start!

36
Step #5:
Take the pointer tool with the circle on the end, and start working your letter into
shape. Zoom in, and hover over one of the corners. See the red dot? Now you can click and
drag that red dot until your line is straight (or in the shape you want it). If you put that red
dot onto another one, it will join the two lines together. Now we're getting somewhere!
Once you're happy with the letter, go ahead and centre it inside the rectangles.
Step #6:
Select your letter with the pointer tool. Once it's selected, the border will turn
orange. Now, take a deep breath, we're going to make our first toolpath! Click CAM ->
Pocket. Fill in the following values then click OK. Your letter should look like it's filled
in with a hatch pattern.
Step #7:
Select the inside rounded rectangle (the one we made in step #3). Click CAM ->
Follow Path Operation. Fill in the following values, then click OK. Your line will look
highlighted yellow.

37
Step #8:
Select the outside rounded rectangle (the one we made in Step #2). Click CAM ->
Profile Operation. Fill in the following values, then click OK.

38
Step #9:
It's time to generate your g-code! If you check the "view cuts" option in the top
right portion of the screen, your toolpaths will be filled with nice colors representing the
operations. If everything looks OK, go ahead and click CAM -> calculate all. Nice work.
Step #10:
Export Your g-code! Your coaster should look a little goofy right now, with colors
and curves representing the toolpaths. That's OK, Imaging those toolpaths as a map for your
bit to follow. Once you have calculated all toolpaths, let's go ahead an export the file. Click
CAM -> export g-code. A couple of things to remember on this screen.

39
The order should go:
1. letter_pocket
2. trim_engrave
3. coaster_cutout
As long as that's OK, then click 'all' (will highlight all of your operations), then click
"Export Selected Toolpaths". A file dialog box will prompt your for a location to save your
file. let's name it 'monogram_coaster.nc' and save it somewhere that you will remember.
After the file is exported (it'll only take a split second), go ahead and save the svg file from
makerCAM. Click file -> save SVG. Save it somewhere that you will remember.

40
Step 1: Open MakerCAM
Navigate to www.MakerCAM.com in your browser.
Step 2: Open a file
Open a .svg file by clicking File -> Open SVG File in MakerCAM (Be sure to extract
the files from the zipped folder before opening one).
Note: MakerCAM can only work with .svg files which are a common graphic design file
type. To use other file types either convert them to .svg, or use a different CAM program
which can open the file type you would like to use.
Step 3: Make sure the part looks right
Take a look at the part that is opened and make sure it looks right. What is shown on
the screen is the part exactly as Maslow will cut it. This demonstration was written using the
file AngleBrace4.svg which is no longer part of the design, but the process is the same.
Due to how certain programs scale .svg files, you may need to change the "SVG
Import Default Resolution (px/inch)" setting in MakerCam. This setting can be found in Edit
menu under Edit Preferences. An easy way to confirm your settings are correct is to import
the "6 Inch Square Test Shape.svg" file from the Maslow Design Files package
(AllPartsSVG.zip) you downloaded, each grid line in MakerCam is 1 inch or 1 cm depending
on the units selected.
Step 4: Position the file
Where we position the file in MakerCAM is important. Notice how MakerCAM
shows a darker cross. This cross will be the Home position when we load the file in Ground
Control. It is commonly referred to as "the origin" or as the xy point (0,0).
We will be able to move the design anywhere on the 4x8 sheet later by moving the router to
a spot and pressing the "Set Home" button in Ground Control. When placing your parts in
Ground Control, think about how you will want to place them on your sheet later.

41
You can move your design in MakerCAM by clicking on the line and dragging or rotate it
by clicking Edit -> Rotate Selected
Step 5: Set up the cut
Click on the line you would like to cut, then click CAM -> Profile Operation. This will
open a popup with a number of options. These are:
• Tool Diameter - The size of the bit you would like to use to cut
• Target Depth - How deep to cut, generally the thickness of the wood plus a little
bit more to be sure to cut all the way through
• Inside/Outside - Do you want to cut along the inside of the line or the outside of
the line
• Safety Height - How far should the bit retract to be "safe" and out of the wood.
Used when moving between cutting locations
• Stock Surface - The height of the surface of the wood. Generally always zero.
• Step Down - How deep Maslow will cut with each pass
• Feed Rate - How fast Maslow will move while cutting
• Plunge Rate - How fast Maslow will move the z-axis
• Direction - Which way Maslow will go around the part while cutting
Learning the right settings for different materials is a bit of an art, and is something best
learned through practice and experimentation. These settings are a good place to start.
Change the thickness of wood and bit size to match your project.
Step 6: Generate G-code
Generate g-code by clicking CAM -> Calculate All. This will generate the tool path that
Maslow will follow to cut the part. Notice that we can see our settings in action here. The
tool path is to the outside of the cut part, by 1/2 the size of our tool and it will circle the part
counter clockwise at the speed we set stepping down the distance we specified each time.

42
Note: If you would like to add tabs to hold your parts in place while they are being cut, now
is the time to do so. Simply select all the parts you want to add tabs to and click CAM ->
Add Tabs To Selected A window will pop up with the following options:
• tab spacing (in) - How far apart the tabs will be along each cut path
• tab width(in) - How wide each tab will be (when determining your ideal tab width
don't forget to account for the size of your bit. A quarter inch (.25") tab may be cut
clean through using a quarter inch (.25") bit. So if you are using a quarter inch bit,
add a quarter inch to whatever width you want the tab to be. If you want a tab to be
a quarter inch wide (wide as in along the route of the cutting) then enter half inch
(.50").
• tab height (in) - How tall the tab will be (ideally this number will coincide with the
depth of cuts and material thickness you set in CAM -> Profile Operation. Not
accounting for these and your router may stop to adjust its bit height on every pass).

43
Step 7: Save the file
Now since everything looks right, we just need to save the file by clicking CAM -> Export
Gcode to open the export G-code popup. Within this popup be sure to click All, then Export
Selected Toolpaths. Only the selected toolpaths will be saved.
Fig12.Makercam Software
3.3.5(b) GRBL software:
Grbl Controller is a piece of software which is used to send GCode to CNC Machines.
The software has been optimized to send GCode to a Grbl Arduino Shield, which is the
standard and default controller type. Grbl Controller is written to work on Windows,
Mac, and Linux. It has been written as a superior replacement for some other popular
software’s like ‘GcodeSender’and ‘UniversalGcodeSender’.

44
Grbl Controller setup:
i. Preparing:
• Power up Arduino and shield.
• With motor off, manually position milling bit over origin (0,0) on the work piece.
The origin is the intersection of X and Y on your CAD drawing.
• Start Grbl Controller.
• Select COM port and open.
ii. Adjusting:
• Choose appropriate step size (start with 1).
• Press the Z down button, the milling bit should move down towards the work
piece 1 mm. The Z jog speed can be adjusted in menu Tools -> Options.
• Repeat until the bit is almost touching.
• Turn on motor.
• Press Grbl Controller's Reset button to zero the Arduino Grbl code.
.iii. Sending G-code:
• Choose Send G-Code radio button
• Open desired file, usually .nc
• Press Begin. If for some reason there is a long, slow traverse, the controller may
time out. Increase timeout value in Tools -> Options
iv. Finish:
• Turn off motor when milling is complete.
v. Emergency:
• Press the Reset, Stop or Close button on Grbl Controller -the steppers should stop
within a second or two. If not, power off your shield.

45
Fig. 13: GRBL controller
XLoader
Step 1
Picture shows the window that Xloader displays when it starts.
Fig 14. Xloader

46
Step 2
Enter the file path or browse to the .hex file that you would like to load into the
Arduino
Step 3
Select the device type you are going to load into (Uno/ATmega328 for the
Arduino)
Step 4
Select the COM port where your Arduino is attached.

47
Step5
The baud rate should be 115200.
STEP6
Press the "Upload" button.

48
When the .hex file has been loaded into the Arduino the picture will show the size
of the file uploaded, or an error message if the upload fails.
.hex which is loaded in Arduino UNO is “grbl_v0_8c_atmega328p_16mhz_9600”.

49
CHAPTER-IV
RESULT AND DISCUSSIONS
By the integrating hardware and software here is the combined result of this project i.e. plotting
Geometrical shapes.
Following results are the shapes plotted by “XYZ PLOTTER”:
Fig 15: RESULT

50
CHAPTER-V
CONCLUSION AND FUTURE SCOPE.
Conclusion
The machine was fabricated successfully and during testing it worked well with the Bluetooth
as well as with the USB connection. Most of the commonly available CAD/CAM software’s
were supported and the machine proved to do 2-D. The Fabrication of this CNC Router with
Bluetooth connectivity was cheaper than many commercially available CNC routers. The
machining parameters were optimized using Grey relational analysis and the optimum feed rate
was 100 mm/min at 0.1 mm depth of cut at spindle speed 30000 rpm. A confirmatory test was
conducted to validate the calculated results.
5.2 Future Work
CNC machines are extremely versatile this day for having the capability of a wide range of
functions including cutting, drilling, routing and milling.
● Versatile Uses Not very long ago, CNC machines were used only in the manufacturing
industries and largescale projects. However, now the scenario changes and even small to
medium size businesses and small hobby shops to handymen are using CNC machines.
● Increment of Usage CNC machines are becoming more and more powerful with
technological advances and software developments. Moreover, they are also becoming easier to
operate and handle to new users with these advances.
● Mobile CNC Machines CNC machines were larger for being used in large scale projects
and industries that required large machines. However, it is totally shifting to the mobile devices
that are easily portable and can be carried and used at worksites.

51
● Manufacturing Development Manufacturing companies are able to use these machines to
produce more precise products and in turn paving the way for more technological advancements
such as nanotechnology, as the CNC machines are turning more advanced. Businesses are
looking at huge cost savings as CNC machining equipment becomes more precise, versatile,
and affordable. The variety of CNC applications is allowing businesses greater versatility and
flexibility.
● 3D Printing 3D printing using resins, plastics, and even metal alloys is emerging from
small shops around the world. These technologies are paving the way to new businesses and
changing industries while it’s still in its infancy. Today’s early stages of this with on-demand
3D printing are, ordinary people can have objects created for them simply be sending a company
a computer file. Moreover, nylon printing can create articles of clothing; and with this we can
imagine that we may able to print the clothes we wear, after ten years from now.
● Laser-cut plywood A geometric pattern can be created that can be etched into a sheet of
plywood using a CNC laser cutter. The wood retains its solidity and durability once it is milled
with good flexibility. While it can use the end product as wall art, there are a number of practical
purposes too! The machined wood can be molded to form a bowl or place mat. Moreover, it is
well-suited to curved surfaces and walls.
Of course, the future of XYZ plotter (CNC machines) and CNC technology is exciting! The
global economy as well as the global trends will surely be changed by the evolution of CNC
technology as well as applications. Lastly, CNC technology is going to change the face of
machining.

52
Reference
[1] N. Tosun, C. Cogun, H. Pihtili, The effect of cutting parameters on wire crater sizes in wire
EDM, International Journal of Advanced Manufacturing Technology, 21, 2003, 857– 865.
[2] "ATmega48A/48PA/88A/88PA/168A/168PA/328/328P Datasheet."
<http://www.atmel.com/dyn/resources/prod_documents/doc8271.pdf>.
[3] B. Jayachandraiah, O.V. Krishna, P.A. Khan, R. Ananda Reddy, Fabrication of Low Cost 3-
Axis CNC Router, International Journal of Engineering Science Invention, 3, 2014, 1-10.
[4] Inkscape User Documentation." <http://inkscape.org/doc/index.php?lang=en>.
[5] L.M. Maiyara, R. Ramanujamb, K. Venkatesanc, J. Jeraldd, Optimization of Machining
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[10] Attene, Marco, and Bianca Falcidieno. "ReMESH: An interactive environment to edit and
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[11] Frank, Matthew C., Richard A. Wysk, and Sanjay B. Joshi. "Determining setup orientations
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[18]https://www.samstores.com/Store.asp?intPageSizea=25&sort=5&PageNo=34&PrNew=1
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