CHAPTER 1

INTRODUCTION

1.1 INTRODUCTION
CNC stands for Computer Numerical Control and typically refers to a machine whose
operation is controlled by a computer . It also is a specialized and versatile form of a Soft
Automation and its applications cover many kinds, although it was initially developed to
control the motion and operation of machine tools. A CNC machine takes codes from a
computer and converts the code using software into electrical signals. The signals from
the computer are then used to control motors. Since the motors can turn very small
amounts the machine is able to move in highly precise movements over and over again.

There are many types of CNC machine. The common CNC machines are two-axis and
three-axis CNC machine. The two- axis machine can move on vertical and horizontal
only which are X and Y axis. Three-axis machine can do movement starting with three
primary axis which are X, Y and Z axis. The Z axis is being parallel with the spindle. By
controlling a 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 CNC machine for
it to produce a physical copy of the item designed. Mini CNC plotter machine is
described as it is based on Arduino controller and CNC shield. CNC is computer
numerical control machine. G codes are preparatory Function. G codes are pre-define
Function Associated with the movement on machine axes. In CNC Plotter Machine only
G codes are used. G codes are giving the Direction to move the pen in X, Y directions.
Pen can be changed by tools of drilling, laser cutting tool, milling it can be worked, if it is
made in large size. The aim of over is to make a mini CNC plotter machine which is
capable to draw difficult design in paper or surface of metal, To cut it with a great
accuracy .We have used stepper motors with lead screw in Cartesian coordinate X,Y
directions. Stepper motor is convert digital pulse into lead screw rotations. Stepper
drivers are used to give command to the system. The main aim is to fabricate a Mini CNC
plotter Machine to draw an object with using G codes. We also work on to reduced cost
of the project and increase Reliability and Flexibility. In we have replace pen with
mechanical tools drilling, grinding, machining etc. This will be used for soft material
cutting or machining, laser cutting machine tool is also worked on this setup. We have
reduced the cost, in the setup of mini CNC plotter machine.[1]
Computer Numerical Control takes digitized data, a computer and CAM program is used
to control, automate, and monitor the movements of a machine. The machine can be a
milling machine, lathe, welder, grinder, laser, sheet metal stamping machine, robot, or

1
many other types of machines. For larger industrial machines, the computer is generally
an on-board dedicated controller. But for more hobbyist types of machines, or with some
retrofits, the computer can be an external PC. The CNC controller works together with a
series of motors and drive components to move and control the machine axes, executing
the programmed motions. On the industrial machines there is usually a sophisticated
feedback system that constantly monitors and adjusts the cutter's speed and position.
CAM – Computer Aided Machining or Manufacturing – Refers to the use of various
software packages to create tool paths and NC code to run a CNC controlled machine,
based on 2D or 3D computer model. CAM does not actually run the CNC machine but
just creates code for it to follow.

NC code –A special relatively simple computer language that a CNC machine can
understand and execute. These languages were originally developed to program parts
directly at the machine keyboard without the aid of a CAM program. They tell the
machine what moves to execute, one by one, as well as controlling other machine
functions such as spindle and feed speeds, coolant. The most common language is G-
code , a simple alphanumeric programming language developed for the earliest CNC
machines in the 70s.[2]

1.2 BACKGROUND
The early history of CNC machining is almost as complex as a modern CNC system. The
earliest version of computer numerical control (CNC) technology was developed shortly
after World War II as a reliable, repeatable way to manufacture more accurate and
complex parts for the aircraft industry.
Numerical control—the precursor to CNC was developed by John Parsons as a method of
producing integrally stiffened aircraft skins. Parsons, while working at his father‘s
Traverse City, Michigan-based Parsons Corp., had previously collaborated on the
development of a system for producing helicopter rotor blade templates. Using an IBM
602A multiplier to calculate airfoil coordinates, and inputting this data to a Swiss jig
borer, it was possible to produce templates from data on punched cards.
Parsons‘ work lead to numerous Air Force research projects at the Massachusetts Institute
of Technology (MIT) starting in 1949. Following extensive research and development, an
experimental milling machine was constructed at MIT‘s Servomechanisms Laboratory.
A 28-inch Cincinnati Hydro-Tel vertical-spindle contour milling machine formed the
base of the experimental system. Extensive modifications were made, including the
removal of all table, cross-slide, and head drives and controls, and the installation of three
variable-speed hydraulic transmissions, which were connected to leadscrews. Through
gearing and leadscrew, each transmission could produce a 0.0005‖ motion of the table,
head, or cross-slide for each electrical pulse it received from the director.

2
To ensure that this experimental machine was functioning as directed, a feedback system
was added. Synchronous motors geared to each motion generated voltage in response to
movement. This voltage was sent back to the detector for comparison to the original
command voltage.
By 1953, enough data had been collected through application studies to indicate the
practical possibilities of the nascent technology. However, a different, less accurate,
experimental NC machine also developed at MIT—one that utilized a Flexowriter, eight-
column paper tape, a tape reader, and vacuum-tube electronic control systems—became
the true prototype for the future of CNC.
Though the early CNC systems developed by Parsons, MIT, et al, were rudimentary by
today‘s standards, they do share much in common with modern CNC equipment. All
automated motion control machines, from that first modified Hydro-Tel to CMSNA‘s
state-of-the-art Cronus moving bridge, require a command function, a drive/motion
system, and a feedback system.
A CNC machine‘s command function could be anything from a simple cam follower to a
fully digital interface. The motion/drive system could consist of an electric or hydraulic
motor, a clutch, a cylinder, a brake, a valve, or any combination of these—any sort of
device that makes something move. The synchronous motor feedback system described
above has been replaced with digital encoders and other similar technological advances.
In 1968, John Parsons was the recipient of the Numerical Control Society‘s inaugural
Joseph Marie Jacquard Memorial Award. In 1975, Parsons was honored as ―The Father
of the Second Industrial Revolution‖ by the Society of Manufacturing Engineers.
In University Malaysia Pahang (UMP), especially at laboratory in manufacturing
engineering faculty, there are a lot of machines can use CNC 2 axis programs for
examples drilling machine and cutting machine, but those machine not yet using the
technology. So that, staff and students has to do it manually, like marking and do some
calculation. It wills easily the lecturers, staff and student works by added programs into
the machine. With the implement of CNC many people can shorten their task and works.
For the improvements purpose, the machine has to be added with CNC programs and
converts the physicals machine a little bit.[3]

1.3 PROBLEM STATEMENT

 Nowadays, techonolgy is getting advanced with a lot of things become smaller
and thinner. This project is about to overcome the problem of machining the small
part of work.
 CNC machine builds up with simple mechanical assembly so if we are able to add
more hardware and enhance the effective code for programming help it to use
over broad areas.
 They are flexible and give accurate results, so provides better performance
facilities over long period of time and save human labour.

3
1.4 OBJECTIVES
 In this project, our aim is to use CNC machine for sketching 2D images by
controlling a CNC machine through a PC, provides it with CNC-readable code
and then send that data to CNC machine for it to produce a physical copy of the
item designed.
 The main objective of this project is to provide plotting operation as an alternative
for traditional manual operations done by manually operated mechanism.

1.5 APPLICATIONS
 It can help an Engineer to design Buildings, Maps, Different types of electronic
circuits etc.
 It can be used to print Number plates of vehicles, Hoarding board etc.
 It can be also used for Decorative purposes.
 Instead of pen we can use laser cutters for high precision machining operations.

4
 CHAPTER 2
LITERATURE REVIEW
At this stage, the understanding of the machine‘s concept is needed. The basic of the
project is very important. To understand the concept of the project, the research on the
past journals, books, articles, and the experiment of the area of machine development. In
chapter 2, the theoretical reviews of the project, are described about the fundamental of
the Mini CNC Machine. The resource is collect from the books which are CNC Machines
by B. S. Pabla, M. Adithan, Programming of CNC Machines: Student Workbook by Ken
Evans, CNC Programming: Principles and Applications by Micheal W.Mattson, Mike
Mattson and Build Your Own CNC Machine by Patrick Hood-Daniel, James Floyd
Kelly. The other resources are from journal and articles which are about the Mini CNC
Machine. For example, A CNC Machining System for Education by A.A.Tseng,
S.P.Kolluri and P.Radhakrishna, Computer Numerical Control by Dr. Aseel A.Al-
Hamdany, and Evaluation of Performance Criteria of CNC Machine Tool Drive System
by Venkatram Ramachandran.[4]
The importance of manufacturing and having skilled manufacturers in the United States
industry has been apparent since the industrial revolution in the 1800‘s. The economic
change that took place when production went from skilled craftsman to machines and
factories has helped make the U.S. the superpower nation it is today. Since the modern
industrial revolution took place in 1973 all areas of industry from technologies, politics,
and the economy have all been influenced and changed dramatically (Scott, 2008; U.S.
Department of Labor, Bureau of Labor Statistics, 2008). The skill of the manufacturing
industry is to create a quality part that meets the consumer‘s specifications for the least
amount of money. The progression and advances in manufacturing continue to decrease
the cost of production and further decrease the overall cost of goods which, in turn,
affects the national economy. Today the U.S. faces the difficult issue of overseas
outsourcing manufacturing jobs to countries like China, Thailand, and Japan in order to
save on production costs. Although this outsourcing may be useful in the short term and
temporarily boost bottom line profit, the recent disaster in Japan show us how dangerous
outside reliance can be (Scott, 2008). United States companies are constantly looking
for skilled manufacturing engineers and machine specialists to increase their productivity
and lower machining costs.[5] For several years, rigorous research has been conducted in
the area of CNC machine from diverse perspectives(Raksin and parnnichkun,2004; Siller
et al..,2006; Omiru and Nearchou,2009; Rahnama et al.,2009). Some investigators seem
to contribute to the expansion of the frontier of CNC machine knowledge by focusing on
system performance improvement tools such as sensors( Ertekin et al., 2003), neutral and
adaptive networks as well as fuzzy controllers (Chen and Jen 2000; Liang et al., 2002
Uros et.al., 2009; Zuper et al., 2011; Kim and Jeon, 2011). Others applied optimization
techniques to achieve their goals in CNC machine research (Ghani et al., 2004; Yang et
al., 2009). Still, others have focused on different aspects such as hardenability (EL-

5
bestawi et al., 1997) , nano surface generation (Cheng et al., 2008) ,new material study
(Sharman et al., 2001), free from surface studies, thus the paragraphs follow contains a
comprehensive review of existing studies in the literature in its disive modes, covering
the various contributions of the authors till date. Mini CNC Machine is the small CNC
Machine that can operate same likes other CNC machine. This machine is designed for
the specific dimension.The CNC machines can be divided into two groups, which are
turning machines and milling machine. A turning machine is generally made up of a
device that spins a workpiece at high speed and the tool is moved back and forth and in
and out until the desired shape is achieved. A milling machine is a machine that has
spindle which is same as the router, with a special tool that spins and cuts in various
directions and moves in two directions along the X, Yaxis. (Patrick Hood-Daniel, 2009)
A CNC machine with several unique features, such as simplicity and reliability, was
developed for studying computerized numerical control and its associated software.
Themachine is especially useful for educational and research purposes, and it is easy to
integrate with other manufacturing systems. It can also be used to introduce the CNC
aspect of CAM systems without involving too many complexities that are present in
commercial systems.[6]

An important advance in the philosophy of NC machine tools was the shift toward the
use of computers instead of proprietary controller units in the NC system of the early
1970s. This gave rise to the computer numerical control (CNC). CNC is a self-contained
NC system for a single machine tool including a dedicated minicomputer controlled by
stored instructions to perform some or all of the basic NC functions. It has become
widely used for manufacturing systems mainly because of its flexibility and less
expensive. Computer Aided Manufacturing (CAM) software can be used to generate this
part program. The service program is used to check, edit, and 12 correct the part program.
It usually has a user interface that allows the user to operate the machine easily. The
control program accepts the part program as input data and produces signals to drive the
axes of motion. It performs interpolation, feedrate control, acceleration and deceleration,
and position counters showing the current axes position.Most closed-loop CNC systems
include both velocity and position control loops. The velocity feedback is usually
provided by a tachometer and the position feedback is usually provided by an encoder or
resolver. CNC software can also retrieve velocity feedback from encoder by
differentiating the input signal.The computer output in CNC systems can be transmitted
either as a sequence of reference pulses or as a binary word. If the reference pulse
sequence is generated, each pulse generates a motion of 1 of axis travel. The number of
pulses represents position and the pulse frequency represents axis velocity. In an open-
loop system, these pulses are the control signal of a stepper motor. In a closed-loop
system, these pulses can be fed as a reference signal [7].

6
 CHAPTER 3
RELATED THEORY

3.1 SVG (Scalable Vector Graphics)

Scalable Vector Graphics (SVG) is a World Wide Web Consortium (W3C) standard for
describing two dimensional vector image files. Vector images consist of shapes, line
vectors and style information instead of the arrays of pixels available in images like JPEG
or PNG. SVG files are ASCII text documents in XML format, and can be manipulated
with a drawing program (such as the open source editor Inkscape) or with a text editor as
plain text. The open standard and XML format allows the files to be read in as text and
then parsed into a usable data structure by our image conversion software.
An open source graphics editing software, Inkscape can be used to create or edit vector
graphics such as simple sketch, rough line diagrams, logos and difficult paintings. This
software converts the loaded image into G codes for the required 2D diagram in to garber
file which consist of required G code program to be dumped into the microcontroller. The
other major advantage of using this software is that the created rough sketch can be
further manipulated with due transformations, such as moving, rotating, scaling and
skewing as per the need of a customer who needs a building drawing.
While printing or drawing, the proper synchronization of all the three axes through
stepper motors and servo motor is most exigent task. These movements can be achieved
through the G Code which can be programmed manually or generated through software
like Inkscape. The proposed mini CNC 2D sketcher has the option of dumping the G
Codes into the microcontroller by any one method.
The following are the principles of CNC operation:-
 Movement of X,Y axis are controlled by motor which supplies either Alternating
current or Direct current.
 Movement of machine is done by giving commands..
 For each operation separate code is available.
 Warning system is available to save guard the various operations and components.

7
Figure 3.1 Inkscape Software

8
 CHAPTER 4
METHODOLOGY

4.1 BLOCK DIAGRAM DESCRIPTION:

X-axis
arm

Motor
driver

Power Arduino
supply nano Servo
motor

Motor
driver

Y-axis
arm

Fig.4.1 Block Diagram

We have supply the current in Arduino with USB DATA cable to transfer Data from
Computer to Arduino Board, Here we have used 2 Stepper Drivers to supply the G codes
in Sequence to the stepper motors. Arduino will be mounted on PCB board. L293D will
distribute the Current in the command of Arduino to the stepper motor to move to obtain
the desire results . In X direction stepper motor will move left and right ,Y direction
stepper motor will move in front and back direction. Servo motor makes the pen moves
up and down to plot the desire sketch. We can make many difficult design via using this
machine. The accuracy of this machines results is very high. So we can used this machine
in industry to reduce the cost of design printing and maintain accuracy level.

9
4.2 CIRCUIT DIAGRAM OF CNC MACHINE

10
4.3 COMPONENTS USED IN CNC MACHINE:
i)CD/DVD WRITERs
The sketching pen in the CNC 2D sketching unit requires movements along X-axis and
Yaxis so as to print or draw the desired sketch on A4 sheet. CD‘s and DVD‘s remain
among the most commonly used media types, however, more and more, laptop
manufacturers are choosing to leave optical drives out of their newer models. The
Verbatim External Slim line CD/DVD Writer offers laptop users a solution. Weighing a
mere 12 ounces, this slim, lightweight external CD/DVD burner fits easily in a laptop
bag, and allows users to read/write CD‘s and DVD‘s any time, any place. For added
convenience, the drive draws power from a USB port on your notebook – with no extra
AC cables to transport. In addition to supporting all common CD and DVD formats, for
both read and write functionality, the Verbatim External Slim line CD/DVD Writer is M-
Disc ready – providing an archival solution with industry-leading disc lifetime
expectancies – ideal for backing up sensitive data, as well as music and video
libraries.These movements can be achieved by using two stepper motors from CD / DVD
writers as shown in figure 4.2.

Fig 4.3 CD/DVD writer

11
ii)ARDUINO NANO
Arduino Nano overview:
The Arduino nano is a small, complete, and bread board-friendly board based on the
ATMEGA328P which offers control of stepper and servo motors through motor
drivers.Itlacks only a DC power jack,and works with a mini-B USB cable instead of a
standard one. Arduino Nano is a surface mount breadboard embedded version with
integrated USB. It is a smallest, complete, and breadboard friendly. Physically, it is
missing power jack. The Nano is automatically sense and switch to the higher potential
source of power, there is no need for the power select jumper.
Nano‘s got the breadboard-ability of the Boarduino and the Mini+USB with smaller
footprint than either, so users have more breadboard space. It‘s got a pin layout that
works well with the Mini or the Basic Stamp (TX, RX, ATN, GND on one top, power
and ground on the other). This new version 3.0 comes with ATMEGA328 which offer
more programming and data memory space. It is two layers. That make it easier to hack
and more affordable.

Courtesy: www.tindie.com
Fig 4.4 Arduino nano

12
Pin description of Arduino nano:

Arduino Nano Pin

Type Function
Pin Name

1 D1/TX I/O Digital I/O Pin

Serial TX Pin

2 D0/RX I/O Digital I/O Pin

Serial RX Pin

3 RESET Input Reset ( Active Low)

4 GND Power Supply Ground

5 D2 I/O Digital I/O Pin

6 D3 I/O Digital I/O Pin

7 D4 I/O Digital I/O Pin

8 D5 I/O Digital I/O Pin

9 D6 I/O Digital I/O Pin

10 D7 I/O Digital I/O Pin

13
Arduino Nano Pin
Type Function
Pin Name

11 D8 I/O Digital I/O Pin

12 D9 I/O Digital I/O Pin

13 D10 I/O Digital I/O Pin

14 D11 I/O Digital I/O Pin

15 D12 I/O Digital I/O Pin

16 D13 I/O Digital I/O Pin

17 3V3 Output +3.3V Output (from FTDI)

18 AREF Input ADC reference

19 A0 Input Analog Input Channel 0

20 A1 Input Analog Input Channel 1

21 A2 Input Analog Input Channel 2

22 A3 Input Analog Input Channel 3

14
Arduino Nano Pin
Type Function
Pin Name

23 A4 Input Analog Input Channel 4

24 A5 Input Analog Input Channel 5

25 A6 Input Analog Input Channel 6

26 A7 Input Analog Input Channel 7

27 +5V Output or +5V Output (From On-board Regulator)

Input or
+5V (Input from External Power Supply

28 RESET Input Reset ( Active Low)

29 GND Power Supply Ground

30 VIN Power Supply voltage

Table 1: Arduino nano pin description

Features:
• Automatic reset during program download.
• Power OK blue LED.
• Green (TX), red (RX) and orange (L) LED.
• Auto sensing/switching power input.
• Small mini-B USB for programming and serial monitor.
• Standard 0.1‖ spacing DIP (breadboard friendly).
• Manual reset switch.

15
Specifications
Microcontroller Atmel ATmega328
Operating Voltage (logic level) 5 V
Input Voltage (recommended) 7-12 V
Input Voltage (limits) 6-20 V
Digital I/O Pins 14 (of which 6 provide PWM output)
Analog Input Pins 8
DC Current per I/O Pin 40 mA
Flash Memory 32 KB (of which 2KB used by bootloader)
SRAM 2 KB
EEPROM 1 KB
Clock Speed 16 MHz
Dimensions 0.70‖ x 1.70‖

Power:
The Arduino nano can be powered via the mini-B USB connection, 6-20V unregulated
external power supply (pin 30), or 5V regulated external power supply (pin 27). The
power source is automatically selected to the highest voltage source.

iii) SERVO MOTOR

A servo motor shown in figure 4.1.5 is used for the movement of sketching pen in up and
down. This will help the CNC 2D sketcher to point the pen in A4 sheet and withdrawing
it from the sheet to stop drawing. Servo motors are not actually a specific class of motor
but are a combination of specific parts, which happen to include a DC or AC motor, and
are suitable for use in a closed-loop control system. They are used in robotics, automated
manufacturing and computer numerical control (CNC) machining applications.
The servo motor is a closed-loop servomechanism that uses position feedback in order to
control its rotational speed and position. The control signal is the input, either analog or
digital, which represents the final position command for the shaft. A type of encoder
serves as a sensor, providing speed and position feedback. In most cases, only the
position is reported. The final position is reported to the controller and this is compared to
the initial position input, and then if there is a discrepancy, the motor is moved in order to
get to the correct position.
The simplest servo motors use DC motors and position sensing through a potentiometer
and also use big-bang control, which means that the motor moves at maximum speed
until it stops at the designated position or is stopped. This is not widely used in industrial
motion control as it can be quite inaccurate, but these kinds of servo motors are popular
in radio-controlled devices such as model aircraft and toy cars. Sophisticated servo
motors for industrial use have both position and speed sensing as well as implement
proportional-integral-derivative control algorithms, allowing the motor to be brought to

16
its position quickly and precisely without overshooting, as the speed of the shaft can also
be controlled.

Working of a Servo Motor:

The Servo Motor basically consists of a DC Motor, a Gear system, a position sensor and
a control circuit. The DC motors get powered from a battery and run at high speed and
low torque. The Gear and shaft assembly connected to the DC motors lower this speed
into sufficient speed and higher torque. The position sensor senses the position of the
shaft from its definite position and feeds the information to the control circuit. The
control circuit accordingly decodes the signals from the position sensor and compares the
actual position of the motors with the desired position and accordingly controls the
direction of rotation of the DC motor to get the required position. The Servo Motor
generally requires DC supply of 4.8V to 6 V.

Courtesy: www.robu.in
Fig 4.5 Servo motor

Advantages:

 If a heavy load is placed on the motor, the driver will increase the current to the
motor coil as it attempts to rotate the motor. Basically, there is no out-of-step
condition.
 High-speed operation is possible.

Disadvantages:

 Since the servomotor tries to rotate according to the command pulses, but lags
behind, it is not suitable for precision control of rotation.
 Higher cost.
 When stopped, the motor‘s rotor continues to move back and forth one pulse, so
that it is not suitable if you need to prevent vibration

17
Application of Servo Motor

 Servo motor are used in applications requiring rapid variations in speed without
the motor getting overheated.

iv) STEPPER MOTOR

A stepper motor is an electromechanical device it converts electrical power into

mechanical power. Also it is a brushless, synchronous electric motor that can divide a full
rotation into an expansive number of steps. The motor‘s position can be controlled
accurately without any feedback mechanism, as long as the motor is carefully sized to the
application. Stepper motors are similar to switched reluctance motors.The stepper motor
uses the theory of operation for magnets to make the motor shaft turn a precise distance
when a pulse of electricity is provided. The stator has eight poles, and the rotor has six
poles. The rotor will require 24 pulses of electricity to move the 24 steps to make one
complete revolution. Another way to say this is that the rotor will move precisely 15° for
each pulse of electricity that the motor receives

Operation of Stepper Motor:

Stepper motors operate differently from DC brush motors, which rotate when voltage is
applied to their terminals. Stepper motors, on the other hand, effectively have multiple
toothed electromagnets arranged around a central gear-shaped piece of iron. The
electromagnets are energized by an external control circuit, for example a
microcontroller. To make the motor shaft turn, first one electromagnet is given power,
which makes the gear‘s teeth magnetically attracted to the electromagnet‘s teeth. The
point when the gear‘s teeth are thus aligned to the first electromagnet, they are slightly
offset from the next electromagnet. So when the next electromagnet is turned ON and the
first is turned OFF, the gear rotates slightly to align with the next one and from there the
process is repeated. Each of those slight rotations is called a step, with an integer number
of steps making a full rotation. In that way, the motor can be turned by a precise. Stepper
motor doesn‘t rotate continuously, they rotate in steps. There are 4 coils with 90o angle
between each other fixed on the stator. The stepper motor connections are determined by
the way the coils are interconnected.In stepper motor, the coils are not connected
together. The motor has 90o rotation step with the coils being energized in a cyclic order,
determining the shaft rotation direction. The working of this motor is shown by operating
the switch. The coils are activated in series in 1 sec intervals. The shaft rotates 90o each
time the next coil is activated. Its low speed torque will vary directly with current.

18
 Courtesy:www.sd3d.com
Fig 4.6 Stepper motor

Advantages of Stepper Motor:

1. The rotation angle of the motor is proportional to the input pulse.
2. The motor has full torque at standstill.
3. Precise positioning and repeatability of movement since good stepper motors have an
accuracy of 3 – 5% of a step and this error is non cumulative from one step to the
next.
4. Excellent response to starting, stopping and reversing.
5. Very reliable since there are no contact brushes in the motor. Therefore the life of the
motor is simply dependant on the life of the bearing.
6. The motors response to digital input pulses provides open-loop control, making the
motor simpler and less costly to control.
7. It is possible to achieve very low speed synchronous rotation with a load that is
directly coupled to the shaft.
8. A wide range of rotational speeds can be realized as the speed is proportional to the
frequency of the input pulses.

Applications:
1. Industrial Machines – Stepper motors are used in automotive gauges and machine
tooling automated production equipments.
2. Security – new surveillance products for the security industry.
3. Medical – Stepper motors are used inside medical scanners, samplers, and also found
inside digital dental photography, fluid pumps, respirators and blood analysis
machinery.
4. Consumer Electronics – Stepper motors in cameras for automatic digital camera focus
and zoom functions.

19
v) L293D (MOTOR DRIVER IC)

L293D IC is a motor driver integrated circuit shown in figure 4.6; it is used to control the
stepper and servo motor rotations in clockwise and anticlockwise directions. This change
in rotations help the sketcher to move in the required two directions say, X and Y axis
directions corresponding to left and right movement, front and back movement and up
and down movement.
It works on the concept of H-bridge. H-bridge is a circuit which allows the voltage to be
flown in either direction. As you know voltage need to change its direction for being able
to rotate the motor in clockwise or anticlockwise direction, Hence H-bridge IC are ideal
for driving a DC motor. In a single L293D chip there are two h-Bridge circuit inside the
IC which can rotate two dc motor independently. Due its size it is very much used in
robotic application for controlling DC motors. Given below is the pin diagram of a
L293D motor controller. There are two Enable pins on l293d. Pin 1 and pin 9, for being
able to drive the motor, the pin 1 and 9 need to be high. For driving the motor with left H-
bridge you need to enable pin 1 to high. And for right H-Bridge you need to make the pin
9 to high. If anyone of the either pin1 or pin9 goes low then the motor in the
corresponding section will suspend working. It‘s like a switch.

Courtesy:www.aliexpress.com

Fig 4.7 L293D IC

Working of L293D
There are 4 input pins for L293D, pin 2,7 on the left and pin 15 ,10 on the right as shown
on the pin diagram. Left input pins will regulate the rotation of motor connected across
left side and right input for motor on the right hand side. The motors are rotated on the
basis of the inputs provided across the input pins as LOGIC 0 or LOGIC 1.

20
vi) 5V ADAPTER
A 5V adapter with 1A current shown in figure 4.7 is used as a power supply to run the
CNC machine. This adapter enables to run the microcontroller, servo motor and stepper
motor to perform the required drawing.

Courtesy:www.ezelectronics.com
Figure 4.8 Adapter

vii) ZERO PCB BOARD

It has copper patches so we can solder our components but doesn't have any connection
so for connecting the components together either solder the components together or
connect them by soldering their legs to wire.

Fig 4.9 Zero PCB board

21
4.4 SOFTWARE DESCRIPTION:

i)ARDUINO IDE
The Arduino IDE Is a cross-platform application written in java, and is derived from the
IDE for the processing programming language.It is designed to introduce programming to
artists and other newcomers unfamiliar with software development .It includes a code
editor with features such as syntax high lighting,brace matching, and automatic
identification .and is also capable of compiling and uploading programs to the board with
a single click .There is typically no need to edit make files or run programs on a
command-line interface. The Arduino IDE comes with a C/C++ library,which makes
many common input/output operation much easier. Arduino programs are written in
C/C++,although users only need define two functions to make a run able program
 Setup()-a function run once at the start of a program that can initialize settings
 Loop()-a function called repeatedly until the board powers off

ii)INKSCAPE
Inkscape is used to design the plotted diagram or text. In this project by using this
software G-code file of a selected image or text is created. G-code is a commonly used
numerical control programming language which includes X, Y, Z coordinates.

Creating G-Code File Using Inkscape

The CNC plotter of our project will work within 4cm×4cm area.

Fig 4.10 Conversion of text to G-code

22
So we choose the document properties of the Inkscape 40mmx40mm (Width×Height)
which is four times the working area of the plotter because the plotter can draw only in
the first quadrant. So we have initially kept the axes at the nearest end of the motors
which is considered as origin to easily modify the design. In Fig. 3 the working area of
CNC plotter is shown with the text written in the pre-defined area. The text is selected
using cursor and then select ―object to path‖ from the drop down window to save the G-
code form of the selected text.
To create G-code of an image, the file must have a transparent background. The image
should be dragged into the selected area then select ―trace bitmap‖ from drop down
window to create a transparent image. Scans are selected as 8 and ―Edge detection‖ is
selected to create black & white image. After adding this transparent image in the
predefined area We have used ―object to path‖ command to create the G-code file of the
selected image by following the steps described earlier.

(a)

(b)
Fig 4.11 Creating transparent image (a) original image (b) transparent image.

23
 Fig 4.12 Conversion of transparent image to G-code

iii) PROCESSING:
Processing is open source programming language software which is used for electronic
drawings. GTCRL processing program is used to send G-code file from user interface to
CNC plotter. The Fig 4.13 shows the user interface of processing 2.2.1 software after
running GTCRL program. The port of Arduino nano is selected by pressing „P‟ button
on keyboard hence ―G‟ button is used to upload our desired G-code file. Immediately
CNC machine will start sketching selected G-code file. Sketching can be stopped by
pressing ―X‟ button.

Fig 4.13 Uploading G-code file

24
iv) G-CODE :
To draw a text file or design a circuit layout by the CNC plotter firstly the files need to be
converted into G-Code. G-Code is a set of instruction that contains number of X, Y, Z,
coordinates depending on the file. G-Code instructs X axis of the machine to travel from
X1 to X2 points with a specific speed and same is true for Y axis, but for Z axis the
coordinates are fixed because only vertically up & down movements are involved.
G-code is a type of function used in Numerical Control programming language
that contains the information to position a tool to do actual work.G-code is separate from
M-code and T-code, codes that control the machine and tooling. Although G-code as a
term is often used interchangeably with Numerical Control (NC), it is actually only one
component and works in conjunction with other codes to perform the appropriate tasks.
The standard version of G-code is known as RS-274D, although other versions do exist
for CNC machines with compatibility issues.

25
 CHAPTER 5
RESULTS AND DISCUSSIONS

5.1 RESULTS
In this paper we have used concept of low cost mini CNC plotter machine, which is user
friendly and easy to operate. By using this we can make difficult and complex design on
paper or any writable material. This is small machine which is easily transportable and
assembled everywhere as per requirement .It will be free to make big size of design on
paper. We have used G codes to giving commands. G-codes are language to give the
command to the machine to move right, left or up and down.

i) Text File
A text file has been designed and sent to the CNC plotter for drawing the text. We can
draw any alphabets small or capital letter.The original file and the plotted files are shown
in the Fig 5.1.

(a)

(b)
Fig 5.1 Comparison of text file (a) original text (b) plotted text.

ii) Black & While Image File

The Fig 5.2 shows a black and white image file which has been plotted by the plotter .

(a)

26
 (b)
Fig 5.2 Comparison of image file (a) original black & white image (b) plotted image

iii) Colourful Image File

A colorful image file that has been converted into a sketch through bitmapping and edge
detection and then plotted via CNC plotter machine shown in Fig 5.3.

(a)

(b)
Fig 5.3 Comparison of image file (a) original image (b) plotted image.

27
iv) PCB Layout
The Fig 5.4 (a) shows PCB layout that has been drawn on PC and Fig 5.4 (b) shows the
one which is plotted by the plotter. We can see that the layout is accurately drawn by the
plotter with only slight error by a few mm in two places.

(a)

Courtesy:www.engineeringproject.com
(b)
Fig 5.4 PCB layout by (a) Inkscape (b) plotter on copper clad.

5.2 ADVANTAGES
 It‘s an open source program and thus a free one, it supports various kinds of
hardware and configurations and it is very easy to use.
 The stepper motor never misses any step. Hence the whole operation is reliable.
 The whole project is cheaper and can be easily constructed through used parts of
hardware from computers.
 CNC machines are programmed with a design which can then be manufactured
hundreds or even thousands of times. Each manufactured product will be exactly
the same.
 Less skilled/trained people can operate CNCs unlike manual lathes / milling
machines etc.. which need skilled engineers.
 CNC machines can be updated by improving the software used to drive the
machines.

28
 Training in the use of CNCs is available through the use of ‗virtual software‘.
This is software that allows the operator to practice using the CNC machine on
the screen of a computer. The software is similar to a computer game.
 CNC machines can be programmed by advanced design software such as
Inkscape, enabling the manufacture of products that cannot be made by manual
machines, even those used by skilled designers / engineers.
 Modern design software allows the designer to simulate the manufacture of
his/her idea. There is no need to make a prototype or a model. This saves time and
money..
 One person can supervise many CNC machines as once they are programmed
they can usually be left to work by themselves. Sometimes only the cutting tools
need replacing occasionally.
 A skilled engineer can make the same component many times. However, if each
component is carefully studied, each one will vary slightly. A CNC machine will
manufacture each component as an exact match.

29
 CHAPTER 6
CONCLUSION AND FUTURE SCOPE

6.1 CONCLUSION
This project is about building a mechanical prototype of a CNC plotter machine which is
able to draw 4cm by 4cm image/text on a given solid surface. It consumes low power and
works with high accuracy due to precise controlling of stepper motors. This is a low cost
project as compared to other CNC product. It is made with easily available components
and spare parts. It is designed for private manufacturing and small scale applications in
educational institutes. The machine is designed with a very simple construction scheme
and can be carried anywhere without much effort. The algorithm used is simple. The pen
can be replaced with a pinhead or laser head or any other tool for different purpose of
use. Software that has been used is open source and user-friendly. This is small machine
which is easily transportable and assembled everywhere as per the requirement .It will be
free to make big size of design on paper. We have used G-code for giving commands. G-
codes are language to give the command to the machine to move right, left or up and
down. These set of hardware with a combination of G-code gives a better accuracy and
reduces the work load .G-code make easy to find the information of all locations of all
stepper motors moving as the status of our moving motors are directly shield on computer
hence we can start or stop the machine when ever we are needed. Making a small
machine brings flexibility to do work.Even though more number of CAD software are
available for building as well as production drawing, printing and plotting of plant,
elevation and other views. These CNC 2D sketcher can do different building drawing as
required by the customer. These requires modification in drawing can be obtain by
making changes in G-code manually or by generating through inkscape software. The
proposed CNC 2D plotter gives instant printing or sketching of building and drawing in
an A4 sheet. Futher the application on proposed CNC 2D plotter can also be extended in
the field of printed circuit board (PCB) drawing and drilling. Electrical Discharge
Machining, metal removal and fabricating, lettering and logo engraving as well.

6.2 LIMITATIONS
 Because of the circuit used the shapes that can be draft are limited. Arduino nano
capacity is limited up-to limited shapes considering of Grbl software used as well.
 The maximum height of the cd-drive carriage is limited up to 50-60mm .Hence
2D projects can be small dimensions only.
 Less workers are required to operate CNC machines compared to manually
operated machines. Investment in CNC machines can lead to unemployment.

30
6.3 FUTURE SCOPE
 The pen of the machine can be replaced by a laser to make it work like a laser
engraving or cutting machine.
 The pen can also be replaced with a powerful drill so that it can be used for both
milling and drilling purposes.
 The servo can be replaced with a stepper motor and the pen with a 3-D pen to
make it a 3-D printer which can print objects with dimensions.
 By extrapolation of the axes, the working area of the machine can be extended
keeping the algorithm unaltered.
 A multi station tool can be incorporated in the existing CNC machine.
 Automatic clamping mechanism can be installed(Draw bar Mechanism).
 Automatic tool changing(ATC) devices using Robotic Arm Technology.

31
 REFERENCES

[1]http://www.ijettjournal.org.com

[2] https://wiki.mcneel.com/rhino/cncbasics

[3] https://www.cmsna.com/a-brief-history-on-cnc-machining-c-56_68.html

[4] http://web.wpi.edu/pubs/E-project/Avialable /E-project-042811-

0104431/unrestricated/cnc_MQP_Final_Edited.pdf.com

[5]CNC machine, Michael Mattson, Delmar Cengage Learning, 2010.

[6] Pabolu, V.K. and Srinivas, K.N.H. Design and Implementation of a three dimensional
CNC Machine, International Journal of Computer Science and Engineering, 2, 2010.

[7] Koren, Yoram. (1983). Computer control of manufacturing system.

[8] Karthick, M., Sundarraj, M. and Raja, T. Design and Control of ATC for Shorter Time
Interval in CNC Machines, International Journal of Mechanical Engineering and Technology
8(3), 2017.

[9] Mufaddal A. Saifee and Dr. Usha S. Mehta. Design and Implementation of FPGA Based
G Code Compatible CNC Lathe Controller. International Journal of Electronics and
Communication Engineering & Technology, 7, 2016.

[10]http://www.arduino.cc.com

[11] Xu, X., Li, Y., Sun, J. and Wang, S. Research and development of open CNC system
based on PC and motion controller, Procedia Engineering, 29, 2012.

[12]http://www.w3.org/TR/SVG11.com

[13] I. Pahole, L. Rataj, M. Fisco, S,Klancnik, S. Brezovnik, M. Brezocnik, and J. Balic,

― Construction and Evaluation of Low-Cost Table CNC Milling Machin,‖ Scientific
Bulletin, Series C: Mechanics, Tribology, Machine Manufacturing technology, Volume-
23. Page No- 1-7, 2009.

[14] T. Andrei and I. Nae, ―Designing and Building CNC Router Using Stepper Motors‖,
Seria Technical, Volume-12, Page No- 55-62, 2010.

32
[15] X. Xu, Y. Li, J. Sun and S. Wang, ―Research and development of open CNC System
Based on PC and Motion Controller‖, Procedia Engineering, Volume- 29, Page No-
1845-1850, 2012.

[16]Cnc Machine Manufacturers. Photograph. Review about Cnc Machine. Web. 25 Apr.
2011. <http://www.cncmachine-details.info/cnc-machine-manufacturers.html>.

[17]Stepper motor sth-39d1126-06 1.8deg/step 2 phase hybrid stepping motor electric

motor step motor cnc.

33
34