Modern Design and Implementation of XY Plotter

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Modern Design and Implementation of XY Plotter 
Mr. R.R.Jegan (Guide) 
Assistant professor, V.S.B. Engineering College, 
jeganvsb17@gmail.com 
 
 
Gnanasundaram E (Student) 
B.E Electronics and Communication engineering, 
V.S.B. Engineering College, Karur, Tamil Nadu. 
sundaramprofessional1997@gmail.com 
 
Gowtham M (Student) 
B.E Electronics and Communication engineering, 
Sivanesan R (Student) 
B.E Electronics and Communication engineering, 
V.S.B. Engineering College, Karur, Tamil Nadu. 
sivanesan.ravichandran@gmail.com 
 
Thiyagarajan D (Student) 
B.E Electronics and Communication engineering, 
V.S.B. Engineering College, Karur, Tamil Nadu. 
thiyagudurai333@gmail.com 
 
 
V.S.B. Engineering College, Karur, Tamil Nadu. 
gowthammano02@gmail.com 
 
Abstract— XY Plotter is entirely different from the older 
CNC Machines. It is capable to write and draw the critical 
structures with the exact output. In this paper we going to reduce 
the cost of the plotter, enlarge the drawing surface area and 
giving new look to the entire structure. With the help of Arduino 
Nano controller, CNC shield driver with stepper motors, servo 
motor and G-Code file the entire process complete. The XY 
Plotter of our project will work within 21 x 29.7cm size. 
Keywords—Arduino Uno, CNC shield with stepper motors, 
servo motor and G-Code file. 
I. INTRODUCTION 
As today scenario documenting a paper work like 
writing and drawing, we need a man power (or) need a 
computer for document work, but it will be in typed form 
of specific font. At some moments, we need a document in 
different style, but it is impossible to done by humans’.In 
this we going to made a step stone for this issue the new 
XY Plotter is introduced to do this task to do a everyday 
activities for specialized documentation purpose.This XY 
Plotter is an extremely versatile machine, designed to serve 
a wide variety of everyday and specialized drawing and 
writing needs. You can use it for almost any task that 
might normally be carried out with a handheld pen.The 
Inkscape a software is developed with the help of this 
plotter can do a task like writing and drawing in both flat 
and vertical surface. The earlier existing system had DVD 
ROM’s stepper motor which dissipated heat and thus 
interrupted in the working. They are not much efficient to 
give output as expected . The surface area to obtain the 
output is only 10x10 cm area. So, the commercial process 
where not very useful. 
 
 
 
 
II. LITERATURE SURVEY 
In this section, we summarize the most relevant 
existing research are - [1] We got idea to design the 
structure,[2] We Learned inkscape software procedures and 
generate the G-Code file,[3]Acquire knowledge of 
hardware and controlling boards,[4] We absorb coding and 
the basic circuit connection of the older plotter unit, [5] 
Help to design and fabrication of mini CNC Plotter 
Machine,[6] Design of mini CNC machine for PCB 
drawing and drilling,[7] Collect the idea to send the G-
Code file to the controller,[8] Inkscape extension for 
outputting G-Code for the MakerBot Unicorn Pen 
Plotter.[9] Arduino Library for GRBL - With this Library 
you can use the Arduino IDE to upload GRBL to your 
Arduino Board.We are giving the new look to the cnc 
plotter and enlarge the document surface area to draw.We 
minimize the total budget with the quality output.We 
evaluate the performance of the proposed scheme in terms 
of Speed and Accurate output. 
III. OBJECTIVE 
This XY Plotter is a simple, modern, accurate, and 
adaptable pen plotter, capable of writing or drawing on 
almost any flat surface. It can write with your favorite 
fountain pens, permanent markers, and other writing 
implements to handle an endless variety of applications. Its 
unique design features a writing head that extends beyond 
the machine, making it possible to draw on objects bigger 
than the machine itself. 
IV. ALGORITHM 
The G-Code file created by the help of Inkscape 
software then the processing software is used to send the 
G-Code file to the Arduino controller unit (via USB ) then 
the CNC shield drive send the controlling signals to the 
stepper motors and servo motor. Now the XY axis which 
operates as follows by the instructions given to the 
controller unit. 
Proceedings of the 2nd International Conference on Inventive Communication and Computational Technologies (ICICCT 2018)
IEEE Xplore Compliant - Part Number: CFP18BAC-ART; ISBN:978-1-5386-1974-2
978-1-5386-1974-2/18/$31.00 ©2018 IEEE 1651
Authorized licensed use limited to: UNIVERSIDADE FEDERAL DO MARANHAO. Downloaded on May 08,2023 at 19:25:58 UTC from IEEE Xplore. Restrictions apply. 
 
Fig.1 Block Diagram Of XY Plotter 
The windows operating system is used as the processing 
medium which have to be installed with the inkscape software 
to give the input image or text that can be of any form that 
suits the output measurements. Then g-code is created and 
validated with no errors is stored as file. This saved file is 
moved over the interface where separate memory is not 
necessary and processing software that is used to send the g-
code file by using the interface cable to send the data to 
controller block is interfaced with motor driver unit along the 
DAC provides the pulse width signal to motor unit where it is 
been processed and final output is displayed on the paper from 
the output unit. 
 
Fig.2 Breadboard Connection Diagram 
V. SOFTWARES 
A. Inkscape version 0.48.5 
This software is used to design the input image or 
text to generate the G-code file.Procedures To Generate G-
Code By Using Inkscape Software, Open The Inkscape 
Software Version 0.48.5,Now have to set the document 
properties after that set the paper size, Now Add The 
Image (or) Text,Now It Shows Selected Image File 
Format,Select The Image And Lock It,Then Go To - > 
Path and Select Trace Bitmap,Here If Any Edit Process 
Needed Means Can Edit,Then Delete The Real 
Image,After that Select Object To Path,Now Save The 
File In G-Code Format,Now Document Saved,G-Code 
File Generated. In this process any kind of documents 
such as text and image are provided as input. Object to 
path process is enabled to find the input points. Then the 
g-code is generated for the identified points. 
B. Arduino 1.8.4 
Arduino is an open-source electronics platform based 
on easy-to-use hardware and software. It's intended for 
anyone making interactive projects.The open-source 
Arduino Software (IDE) makes it easy to write code and 
upload it to the board. It runs on Windows, Mac OS X, 
and Linux. The environment is written in Java and based 
on Processing and other open-source software. It acts as 
the medium between the system and motor drive. The 
data from the system is processed and provides digital 
output to DAC circuit. 
C. Fritzing 
Fritzing is an open-source hardware initiative that 
makes electronics accessible as a creative material for 
anyone. It offer a software tool, a community website and 
services in the spirit of Processing and Arduino, fostering 
a creative ecosystem that allows users to document their 
prototypes, share them with others, teach electronics in a 
classroom, and layout and manufacture professional 
PCBs. 
D. CAMotics 
CAMotics is an Open-Source software which 
simulates 3-axis CNC milling or engraving. It is a fast, 
flexible and user friendly simulation software for the DIY 
and Open-Source community. CAMotics works on Linux, 
OS-X and Windows. It is used to see the visual output and 
internal process of the designed input image or text for 
verification and validation. 
E. Processing 
Processing is a flexible software sketchbook and a 
language for learning how to code within the context of 
the visual arts.Since 2001, Processing has promoted 
software literacy within the visual arts and visual literacy 
within technology. It isthe bridge between system to 
controller. It moves the file over the wired connection 
where no storage is required. 
VI. HARDWARE COMPONENTS 
A. Arduino Nano Controller 
The Arduino Nano is a small, complete, and 
breadboard-friendly board based on the ATmega328P. It 
has more or less the same functionality of the Arduino 
Duemilanove, but in a different package. It lacks only a 
DC power jack, and works with a Mini-B USB cable 
instead of a standard one. It passes the generated pulse 
width signal from the received g-code file values. 
 
Fig.4 Arduino Nano Board 
B. CNC Shield Driver 
CNC Shield can be used as drive expansion board for 
engraving machine.There are 2 slots in the board for 
Proceedings of the 2nd International Conference on Inventive Communication and Computational Technologies (ICICCT 2018)
IEEE Xplore Compliant - Part Number: CFP18BAC-ART; ISBN:978-1-5386-1974-2
978-1-5386-1974-2/18/$31.00 ©2018 IEEE 1652
Authorized licensed use limited to: UNIVERSIDADE FEDERAL DO MARANHAO. Downloaded on May 08,2023 at 19:25:58 UTC from IEEE Xplore. Restrictions apply. 
stepper motor drive modules, can drive 2 stepper motors, 
and each step stepper motor only need two IO port, that is 
to say, 6 IO ports can quite well to manage three stepper 
motor, it's very convenient to use. After insert Arduino 
CNC Shield into Arduino Nano, and installed GRBL 
firmware then you can quickly DIY a CNC engraving 
machine. The low value analog signal will be received 
from control unit. The required power for the motor is 
generated in this section. It analysis the X axis and Y 
axis, then it provides X pulse or Y pulse for the obtained 
input. 
 
Fig.5 Controller Board 
C. Stepper Motor 
The motor's position can then be commanded to 
move and hold at one of these steps without any position 
sensor for feedback (an open-loop controller), as long as 
the motor is carefully sized to the application in respect to 
torque and speed. The exact movement for X and Y axis 
is controlled by this motor. The input voltage is 12 V. The 
input pulse is given for the stepper motor. The control for 
this motor is directly controlled by the motor driver unit 
that replicates the g-code. Any other motor than stepper 
motor will not have the accurate stopping at points cannot 
be achieved. The axis control is done by the 8mm belt 
which have flexibility to move around. They connect 
both the X and Y axis by that single belt which controls 
the overall movement. They are double ended belt so that 
they can be varied for the required length. 
D. Servo Motor 
The servo motor is most commonly used for high 
technology devices in the industrial application like 
automation technology. It is a self contained electrical 
device, that rotate parts of a machine with high efficiency 
and great precision. The output shaft of this motor can be 
moved to a particular angle. Servo motors are mainly used 
in home electronics, toys, cars, airplanes, etc. The pen 
movement is the most important factor at the output end. 
That is controlled by this servo motor. There are two 
angles designed for the movement, which controls the pen 
down mode and pen up mode. When the pulse value goes 
to zero the pen down mode is activated else the values is 
set as 90 degree that enables pen up mode. For the fast as 
well as the accurate movement according to the received 
pulse is achieved by this motor enabling. The gears are 
used for the reduction of the overall speed which is does 
not run at the usual speed. The servo motor run with the 
input voltage of 5V. The driver board provides input for 
this servo motor according to the incoming signal. It has 
the transparent covering that will enable us to detect the 
malfunctions in rare case. The less voltage provided will 
give no heat dissipation and it can work on continuous 
intervals. 
 
 
Fig.7 Servo Motor 
VII. HARDWARE STRUCTURE 
Our Project Hardware Structure 
 
Fig.8 Hardware Structure 
 The rods to align the X and Y structure to give the 
output in the provided sheet. The rod for X and Y axis 
are not fixed. Their movement is supported by the 
bearings which provide soft and accurate movement for 
structuring the output image to text. Initially, the rods are 
in central alignment. They are inputted by transmitting 
the procedural comments and executes the required 
function. The input power is 12V. Commercially it is 
very low power and energy saving. The pen holder is 
fitted over the axis with the servo motor unit that helps 
for the up and down movement the pen according to the 
signal received. The ON and OFF of the pen is according 
to the signal input. The supporting pieces are done in 
wood to reduce the cost. The resize for the compact 
design is much easier in case of wood. 
VIII. RESULT 
Text input : 
DEPARTMENT OF ECE in Edwardian Script ITC 
font style 
 
Fig.9 Text Input 
Text Output : 
Here we used Blue marker 
Proceedings of the 2nd International Conference on Inventive Communication and Computational Technologies (ICICCT 2018)
IEEE Xplore Compliant - Part Number: CFP18BAC-ART; ISBN:978-1-5386-1974-2
978-1-5386-1974-2/18/$31.00 ©2018 IEEE 1653
Authorized licensed use limited to: UNIVERSIDADE FEDERAL DO MARANHAO. Downloaded on May 08,2023 at 19:25:58 UTC from IEEE Xplore. Restrictions apply. 
 
Fig.10 Text Output 
 
 
 Fig.11 Image Input Fig.12 Image Output 
 
The input given in any font style either in usual or any 
colors will be accepted and will start to process the file. 
Image files that are given will first start to enable the 
pixels. Each pixels is analyzed by the coordinates of X and 
Y for the perfect placing and generation of g-code. Image 
detection is used by two methods. They are line detection 
and edge detection. These enable g-code to identify the 
object area. 
 
IX. PROGRAM CODE 
 
 For Text G-Code For Image G-Code 
 
 
 
 
 
X. CONCLUSION AND FUTURE WORK 
 
In the proposed system we have presented the concept of a 
low cost three-axis machine. The total coverage area for the 
object to create is larger and are extendable. Since the outer 
supporting pieces are made up of wood they are easily can be 
enlarged. Servo motor which controls the speed accordingly to 
the gears will give accurate movement. Exact stopping and 
start of the pixels are easily controlled in this process by 
stepper motors that are efficiently controlled by G-code 
generated by inkscape software.The existing CNC machines 
are higher cost, difficult to maintain and requires highly 
skilled operators. Our XY Plotter overcomes these problems. 
It is of low cost and easy to control and there is no need of 
highly skilled operators and it is automatic once it obtain the 
g-code. The multi colour markers can be used along with the 
current process. The size of the total area can be easily 
increased. The vertical axis enabling option will add another 
feature with it. Instead of marker, a drill machine or a laser for 
cutting metal or wood will be the industrial application of this 
process in future. It can be used for long hours at a stretch 
which is not possible in existing ones. It is hoped to extend 
this work for future development. The robotic arm have a 
possibility to be implemented in future. This project along 
with the future work will have the efficient commercial 
application. 
XI. REFERENCES 
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Plotter Machine”; International Journal of Advanced Research in 
Computer and Communication Engineering ISO 3297:2007 Certified 
Vol. 6, Issue 6, Page No .336-337; June 2017 
[2] Mohammad Kamruzzaman Khan Prince, Muhsi-Al-Mukaddem 
Ansary, Abu Shafwan Mondol ”Implementation of a Low-cost CNC 
Plotter Using Spare Parts” International Journal of Engineering Trends 
and Technology (IJETT)– Volume-43 Number-6 -January 2017 
[3] Kajal NJ.Madekar, Kranti R. Nanaware, Pooja R. Phadtare, Vikas S. 
Mane, “Automatic mini CNC machine for PCB drawing and drilling” 
International Research Journal of Engineering and Technology (IRJET) 
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[4] http://www.ardumotive.com/new-cnc-plotter.html 
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[7] http://www.ardumotive.com/uploads/1/2/7/2/12726513/_gctrl.pde 
[8] https://github.com/martymcguire/inkscape-unicorn 
[9] https://github.com/Protoneer/GRBL-Arduino-Library 
[10] V.K. Pabolu and K.N.H. Srinivas, “ Design and implementation of a 
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[11] T. Andrei and I. Nae, “Designing and Bulding CNC Router Using 
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[12] X. Xu, Y. Li, J. Sun, and S. Wang, "Research and development of open 
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Proceedings of the 2nd International Conference on Inventive Communication and Computational Technologies (ICICCT 2018)
IEEE Xplore Compliant - Part Number: CFP18BAC-ART; ISBN:978-1-5386-1974-2
978-1-5386-1974-2/18/$31.00 ©2018 IEEE 1654
Authorized licensed use limited to: UNIVERSIDADE FEDERAL DO MARANHAO. Downloaded on May 08,2023 at 19:25:58 UTC from IEEE Xplore. Restrictions apply. 
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