(CNC MODEL)

MAIN PROJECT REPORT

Submitted By

Names

DR/ Ahmed El-Deeb

Eng/ Anderw Sameh

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 ABSTRACT

2D Robotic Plotter is an embedded system that works based on the principle

Computer Numerical Control. Robotic 2D Plotter basically works with two stepper
motors and a servo motor, wherein the robot plots the input given from the computer
on the drawing board using ATMEGA 328p microcontroller on a open-source
physical computing platform Arduino. The Robotic 2D plotter has a two axis control
and a special mechanism to move the pen Up and down. Each axis is powered and
driven by using an Arduino compactable driver L293D. Pen control is achieved using
a servo. The X and Y axis mainly consists of stepper motors taken from CD-drives.
The software used for programming the Arduino board are namely Inkscape (0.48.5),
Processing (3.0.2), CAMOTICS, Arduino IDE.The correct and arrangement and
proper use of the programs along with the circuit makes up an 2D Robotic Plotter
(CNC).

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 Table Of Contents
1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 Computer Numerical Control (CNC) . . . . . . . . . . . . . . . . . . . 7
1.3 Cartesian Coordinate System . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.4 2D Robitic plotter . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . 9
1.5 Aim of the project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1.6 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.7 Organisation of the Project. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

2 Project Description .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12

2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .13
2.2 Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.3 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

2.4 Industrial Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3 Software . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . 15
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.2 Inkscape (0.48.5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.2.1 Inkscape Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.2.2 Inkscape Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.2.3 Generating gcode les using inkscape . . . . . . . . . . . . . .. 19

3.3 Arduino IDE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3.4 Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.5 sketching with Processing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

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4 Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.2 Arduino NANO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.2.2 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . 27
4.2.3 Power . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . .. . . .. 27
4.2.4 Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.2.5 Input and Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
4.2.6 programming .. . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . 28
4.3 Driver interfacing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.4 Servo Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
4.4.1 Working principle of Servo Motors. . . . . . . . . . . . . . .31
4.4.2 Controlling Servo Motor . . . . . . . . . . . . . . . . . . . . . . .32
4.5 Stepper Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34

5 Industrial Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35

5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
5.2 X-Y Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
5.3 frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
5.4 Pen Setup (Z-axis) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
5.5 Final Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
5.6 Steps Involved in the Project. . . . . . . . . . . . . . . . . . . . . . . . . .39
5.7 Result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .. . . . 40

6 Applicatons . . . . . . . . . . . . . . .. . . . . . . . .. .. . .. . . . . . . .. . . . . . . . 41

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List of Figures

1.1 Intersecting lines form right angles and establish the zero point (Allen-
Bradley) . . . . . . . . .. . . . . . . .. . . . .. . . . . .. . . . . . . .. . . . . . . .. . . . . .7
1.2 The three-dimensional coordinate planes (axes) used in CNC. (The Superior
Electric Company) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 The quadrants formed when the X and Y axes cross are used to accurately
located 11 . . . . . . . . .. . . . . . . . . . .. . . . . . . .. . . . .. . . . .. . . .. 9

3.1 Inkscape Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

3.2 Processing Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 22

4.1 Arduino NANO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26

4.2 L298D Motor Shield . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.3 Dual full bridge. . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . .29
4.4 block diagram on driver . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
4.5 interfacing of Driver and Motor . . . . . . . . . . . . . . . . . . . . . . 31
4.6 Servo Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
4.7 Controlling of Servo Motor (PWM) . . . . . . . . . . . . . . . . . . .33
4.8 Stepper Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

5.1 Lens Frame in CD Drive (Containing Stepper Motor) . . . . . .36

5.2 CD Drive Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..37
5.3 Pensetup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
5.4 view1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . 38
5.5 View 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
5.6 Main Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . 38
5.7 plotted Output image . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

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 Chapter 1

Introduction

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 Chapter 1
Introduction
1.1 Introduction
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. Typically, a 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 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
CNC machine for it to produce a physical copy of the item designed.

1.2 Computer Numerical Control (CNC)

The term numerical control is a widely accepted and commonly used term in the
machine tool industry. Numerical control (NC) enables an operator to communicate
with machine tools through a series of numbers and symbols.

NC which quickly became Computer Numerical Control (CNC) has brought

tremendous changes to the metalworking industry. New machine tools in CNC have
enabled industry to consistently produce parts to accuracies undreamed of only a few
years ago. The same part can be reproduced to the same degree of accuracy any
number of times if the CNC program has been properly prepared and the computer
properly programmed.

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 Figure 1.1: Intersecting lines form right angles and establish the zero point (Allen-
Bradley)

Figure 1.2: The three-dimensional coordinate planes (axes) used in CNC. (The
Superior Electric Company)

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The operating commands which control the machine tool are executed
automatically with amazing speed, accuracy, efficiency, and
repeatability. The ever-increasing use of CNC in industry has created a
need for personnel who are knowledgeable about and capable of
preparing the programs which guide the machine tools to produce parts
to the required shape and accuracy.

1.3 Cartesian Coordinate System

Almost everything that can be produced on a conventional machine tool
can be produced on a computer numerical control machine tool, with its
many advantages. The machine tool movements used in producing a
product are of two basic types: point to point (straight-line movements)
and continuous path (contouring movements).

The Cartesian, or rectangular, coordinate system was devised by the

French mathematician and philosopher Rene' Descartes. With this
system, any speci c point can be described in mathematical terms from
any other point along three perpendicular axes. This concept is machine
tools perfectly since their construction is generally based on three axes
of motion (X, Y, Z) plus an axis of rotation. On a plain vertical milling
machine, the X axis is the horizontal movement (right or left) of the
table, the Y axis is the table cross movement (toward or away from the
column), and the Z axis is the vertical movement of the knee or the
spindle. CNC systems rely heavily on the use of rectangular coordinates
because the programmer can locate every point on a job precisely.

The three-dimensional coordinate planes are shown in Fig. 1.2. The X

and Y planes (axes) are horizontal and represent horizontal machine
table motions. The Z plane or axis represents

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the vertical tool motion. The plus (+) and minus (-) signs indicate the direction from
the zero point (origin) along the axis of movement. The four quadrants formed when
the XY axes cross are numbered in a counterclockwise direction (Fig. 1.3). All
positions located in quadrant 1 would be positive (X+) and positive (Y+). In the
second quadrant, all positions would be negative X (X-) and positive (Y+). In the
third quadrant, all locations would be negative X (X-) and negative (Y-). In the fourth
quadrant, all locations would be positive X (X+) and negative Y (Y-). In Fig. 1.3 ,
point A would be 2 units to the right of the Y axis and 2 units

Figure 1.3: The quadrants formed when the X and Y axes cross are used to accurately
located
above the X axis. Assume that each unit equals 1.000. The location of point A would
be X + 2.000 and Y + 2.000. For point B, the location would be X + 1.000 and Y -
2.000. In CNC programming it is not necessary to indicate plus (+) values since these
are assumed. However, the minus (-) values must be indicated.

1.4 2D Robotic Plotter

Robotics is the branch of technology that deals with the design, construction,
operation, and application of robots, as well as computer systems for their control,
sensory feedback, and information processing. The design of a given robotic system
will often incorporate principles of mechanical engineering, electronic engineering
and computer science (particularly article intelligence).
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The term 'robotics' was coined by Isaac Asimov in his science section short story
called 'Liar'. Robot is an electro-mechanical machine which is guided by a electronic
circuitry or computer program to perform various tasks. A robotic arm is a robotic
manipulator, usually programmable, with functions similar to that of human arm.
Robotic 2D Plotter is a plotter that occurs the fastest way to efficiently produce very
large drawings. Pen plotters will be able to print by moving a pen or other writing
device across the surface of a piece of paper. This means that plotters are vector
graphics devices, rather than raster graphics. Pen plotters can draw complex line art,
including text, but do so slowly because of the mechanical movement of the writing
device such as pen.

1.5 Aim of the project

Aim of the project is to set up a 2D Robotic Plotter for the following steps:

APPLICATIONS
A general idea of CNC Models.

Generating G-CODE. Integrating the different software's along with the

hardware setup.

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1.6 Motivation
Computer Numeric Control (CNC) refers to a wide variety of machines which are
controlled electronically and have many uses, including milling, drawing, extruding,
cutting, and lathing. CNC machines are really expensive. They are widely used in the
fabrication of both electronic and mechanical parts of large machines .So our group
has decided to do a model to know about theoretical and practical knowledge about
this concept [2D Robotic Plotter].

1.7 Organization of the Project

The report is organized as follows:

Chapter 1 : Introduction
In this chapter, brief introduction of the project, literature review, motivation
and organization of the project has been presented.

Chapter 2 : Project Description

In this chapter a brief idea of the main three sections, software, hardware and
industrial design are discussed.

Chapter 3 : Software Description

In this chapter a brief introduction about the type of software used theoretical
and some practical idea about Inkscape, Arduino IDE and Processing are discussed.

Chapter 4 : Hardware Description

In this chapter all the details about the hardwares used such as Arduino UNO
board,Adafruit L293D Motor Shield,Stepper Motors and Servo Motors are discussed.
knowledge about arduino types.

Chapter 5 : Overall View of the project

In this chapter the steps involved in setting-up the plotter and nal result are
discussed.

Chapter 6 : Applications

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 Chapter 2
Project Description

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 Chapter 2
Project Description

2.1 Introduction
The three main sections of Robotic 2D Plotter:

Hardware
Software
Industrial Design

2.2 Hardware
Electronic hardware consists of interconnected electronic components which perform
analog or logic operations on received and locally stored information to produce as
output or store resulting new information or to provide control for output actuator
mechanisms. Electronic hardware can range from individual chips/circuits to
distributed information processing systems. Well designed electronic hardware is
composed of hierarchies of functional modules which inter-communicate via
precisely defined interfaces The XY-plotter consists of two axes operating
orthogonally to each other. Each axis includes a CD drive system that is driven by an
appropriate means. Additionally, a third axis, with limited motion capability is used
to actuate the write head.

2.3 Software
Computer software, or simply software, is that part of a computer system that
consists of encoded information or computer instructions, in contrast to the physical
hardware from which the system is built. The software used in this project comes
under open source. Open-source software (OSS) is computer software with its source
code made available with a license in which the copyright holder provides the rights
to study, change, and distribute the software to anyone and for any purpose. Open-
source software may be developed in a collaborative public manner. Open-source
software is the most prominent example of open-source development.

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2.4 Industrial Design
Industrial design is a process of design applied to products that are to be
manufactured through techniques of mass production. Its key characteristic is that
design is separated from manufacture: the creative act of determining and defining a
product's form takes place in advance of the physical act of making a product, which
consists purely of repeated, often automated, replication. The mechanical part is
taken fully from CD-drive.

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Chapter 3
Software

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 Chapter 3
Software

3.1 Introduction
Engineering as a discipline often requires more integration than large amounts of
original development. In a typical project, writing new code presents significant
challenges, and the number of features shared between projects means that it is
possible to create shared components which implement common features. A library
or an existing module allows the use of a well developed and tested component,
which saves significant resources in the implementation of the project. The drawback
of components is the need to integrate various potentially connecting interfaces, and
the need to understand a complex system in order to effectively use the component.

Components can be purchased, or may be freely available, as in the case of Open

Source soft-ware. The programs and tools we chose for this project are all open
source, and use international standards, which allowed to rapidly develop the features
needed.

The project software system consists of:

1. Inkscape (Version 0.48.5).

2. Arduino IDE.

3. Processing 3.0.2.

3.2 Inkscape
There are two basic types of graphic images: bitmap (or raster) images and vector
images. In the first case, the image is defined in terms of rows and columns of
individual pixels, each with its own color. In the second case, the image is defined in
terms of lines, both straight and curved. A single straight line is described in terms of
its two end points.

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The difference in these types of graphic images becomes readily apparent when a
drawing is enlarged. The same line is shown on the left and right. On the left it is
displayed as a bitmap image, while on the right it is displayed as a vector. In both
cases, the line has been scaled up by a factor of four from its nominal size.

When the bitmap resolution of a drawing matches the display resolution, the objects
in the drawing look smooth. The same drawing, but defined as a bitmap image on the
left and a vector image on the right. If the output device has the same resolution as
the bitmap image, there is little difference between the appearance of the two images.

If the bitmap resolution is significantly less than the display resolution, the display
will show jagged lines. The head of the gentleman in the above drawings has been
scaled up by a factor of five. Now one can see a difference in the quality of the
bitmap drawing (left) and the vector drawing (right). Note that the bitmap image uses
anti-aliasing, a method of using grayscale to attempt to smooth the drawing.

All output devices, with few exceptions, use a raster or bitmap image to display
graphics. The real difference between drawing with bitmap graphics and vector
graphics is the point at which the image is converted into a bitmap. In the case of
vector graphics, this conversion is done at the very last step before display, ensuring
that the input image matches exactly the resolution of the output device.

3.2.1 Inkscape Window

Start by opening Inkscape. This window contains several major areas, many
containing clickable icons or pull-down menus. The following gure shows this
window and labels key parts.

The Command Bar, Snap Bar, Tool Controls, and Tool Box are detachable by
dragging on the handles (highlighted in blue) at the far left or top. They can be
returned to their normal place by dragging them back. New in v0.48: Some of the
bars change position depending on which option is selected at the bottom of the View
menu. When Default is selected, the Command Bar is on the top while the Snap Bar
is on the right. When Custom is selected, the Command Bar and the Snap Bar are
both on the top. When Wide is selected, the Command Bar and the Snap Bar are both
on the right. By default, Default is used if you are not using a \Wide Screen" display
while Wide is used if you are. A width to height aspect ratio of greater than 1.65 is
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depend to be wide. These bars, as well as the Palette and Status Bar, can be hidden
using the View Show/Hide submenu.

As Inkscape has grown more complex, the area required to include icons and entry
boxes for all the various items has also grown leading to problems when Inkscape is
used on small screens. The Command Bar, Snap Bar, Tool Controls, and Tool Box
have variable widths or heights. If there are too many items to be shown in the width
(height) of the Inkscape window, a small down arrow will appear on the right side or
bottom of the bars. Clicking on this arrow will open a drop-down menu with access
to the missing items.

Figure 3.1: Inkscape Window

3.2.2 Inkscape Program

Inkscape has its roots in the program Gill (GNOME Illustrator application)
created by Raph Levian [http:// www.levien.com/] of Ghostscript fame. This project
was expanded on by the Sodipodi [http://sourceforge.net/projects/ sodipodi] program.
A di erent set of goals led to the split-o of the current Inkscape development e ort.

The goal of the writers of Inkscape is to produce a program that can take full
advantage of the SVG standard. This is not a small task. A link to the road map for
future development can be found on the Inkscape website [http://
www.inkscape.org/].

Instructions on installing Inkscape can be found on the Inkscape website. Full

functionality of Inkscape requires additional helper programs to be installed,
especially for importing and exporting les in di erent graphic formats.
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In this project the use of inkscape is to convert any image(formats) into graphics
code usually known as GCODE. .GCODE formats are generated by integrating
inkscape with necessary extension les.

3.2.3 Generating gcode files using inkscape

1. Download and install Inkscape 0.48.5 version.

2. Install an Add-on that enables the export images to gcode files.

3. Open the Inkscape, go to File menu and click "Document Properties".

4. Change the custom size.

5. Now close this window.

6. Open the required image.

7. Re-size the image to fit our printing area.

8. Click Path from menu and "Trace Bitmap".Make required changes.

9. Click ok and close the window.

10. Now, move the gray scale image, and delete the color one behind it. Move the
grey image to the correct place again and click from Path menu "Object to
path".

11. Final, go to le menu, click save as and select .gcode. Click ok on next window.

GCode Tools: Gcodetools is an open source Inkscape extension, to export gcode for
use with a CNC machine, written in the Python programming language. Inkscape
extensions work in the standard Unix IO model, taking SVG on standard input, and
output transformed SVG on standard output. The Gcodetools extension generates G-
Code from the SVG input and writes it to a le as a side e ect of the SVG
transformation. This python extension can be easily downloaded as a .ZIP le from
https://github.com/martymcguire/inkscape-unicorn

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3.4 Arduino IDE
The Arduino project provides the Arduino integrated development environment
(IDE), which is a cross-platform application written in the programming language
Java. It originated from the IDE for the languages Processing and Wiring. 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
highlighting, brace matching, and automatic indentation, and provides simple one-
click mechanism to compile and load programs to an Arduino board. A program
written with the IDE for Arduino is called a "sketch".

The Arduino IDE supports the languages C and C++ using special rules to organize
code. The Arduino IDE supplies a software library called Wiring from the Wiring
project, which provides many common input and output procedures. A typical
Arduino C/C++ sketch consist of two functions that are compiled and linked with a
program stub main() into an executable cyclic executive program:[.2cm]

setup(): a function that runs once at the start of a program and that can
initialize settings.

loop(): a function called repeatedly until the board powers off .

After compiling and linking with the GNU toolchain, also included with the IDE
distribution, the Arduino IDE employs the program avrdude to convert the executable
code into a text le in hexadecimal coding that is loaded into the Arduino board by a
loader program in the board's rmware.

3.5 Processing
Processing is a simple programming environment that was created to make it
easier to develop visually oriented applications with an emphasis on animation and
providing users with instant feedback through interaction. The developers wanted a
means to \sketch" ideas in code. As its capabilities have expanded over the past
decade, Processing has come to be used for more advanced production-level work in
addition to its sketching role. Originally built as a domain-specific extension to Java
targeted towards artists and designers, Processing has evolved into a full-blown
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design and prototyping tool used for large-scale installation work, motion graphics,
and complex data visualization.

Processing is based on Java, but because program elements in Processing are fairly
simple, you can learn to use it even if you don't know any Java. If you're familiar
with Java, it's best to forget that Processing has anything to do with Java for a while,
until you get the hang of how the API works. The latest version of Processing can be
downloaded at http://processing.org/download.
An important goal for the project was to make this type of programming accessible to
a wider audience. For this reason, Processing is free to download, free to use, and
open source. But projects developed using the Processing environment and core
libraries can be used for any purpose. This model is identical to GCC, the GNU
Compiler Collection. GCC and its associated libraries (e.g. lib) are open source under
the GNU Public License (GPL), which stipulates that changes to the code must be
made available. However, programs created with GCC (examples too numerous to
mention) are not themselves required to be open source.

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 Processing consists of:

The Processing Development Environment (PDE). This is the

software that runs when you double-click the Processing icon. The
PDE is an Integrated Development Environment (IDE) with a
minimalist set of features designed as a simple introduction to
programming or for testing one-o ideas.

A collection of functions (also referred to as commands or

methods) that make up the \core" programming interface, or API,
as well as several libraries that support more advanced features
such as sending data over a network, reading live images from a
webcam, and saving complex imagery in PDF format.

A language syntax, identical to Java but with a few modifications.

An active online community, based at http://processing.org.

3.5.1 Sketching with Processing

A Processing program is called a sketch. The idea is to make
Java-style programming feel more like scripting, and adopt the process
of scripting to quickly write code. Sketches are stored in the
sketchbook, a folder that's used as the default location for saving all of
your projects. Sketches that are stored in the sketchbook can be
accessed from File Sketchbook. Alternatively, File Open... can be used
to open a sketch from elsewhere on the system.

Advanced programmers need not use the PDE, and may instead choose
to use its libraries with the Java environment of choice. However, for a
beginner, it's recommended to use the PDE to gain familiarity with the
way things are done. While Processing is based on Java, it was never
meant to be a Java IDE with training wheels. The conceptual model
(how programs work, how interfaces are built, and how les are handled)
is somewhat di erent from Java.

33
Figure 3.2: Processing Window

34
35
Chapter 4
Hardware

36
 Chapter 4
Hardware

4.1 Introduction
In this hardware system consists of a metallic frame, on which is mounted three axis
of motion in a standard Cartesian coordinate system. X and Y axis is driven by a
stepper motor driven by a motor driver L298D circuit. Z axis is driven by a servo
motor.

The different included parts in the project are:

Arduino type: NANO.

ADAFRUIT: motor Driver Shield L298D. Stepper Motors and Servo Motor.

Difference between a microprocessor and a microcontroller:

A microprocessor:
An IC with only the Central Processing Unit (CPU)
No RAM, ROM, or peripheral I/O on the chip.
(System designers must add these externally to make these
Function in Desktop PCs, Laptops, notepads, tablets, etc.
(Manufacturers include:
Intel's Pentium, core 2 duo, i3, i5, ARM, PowerPC, AMD, etc. )
A microcontroller:
An IC with CPU, I/O pins, a fixed amount of RAM,
ROM all embedded on a single, 'all in one' chip.
(Manufacturers include:
Microchip, ATMEL, TI, Freescale, Philips, Motorola)

The Arduino is a development platform using microcontrollers from Atmel's ATmega

series.

Some key reasons given for its success:

Open Source hardware and software
Cross platform (Mac, Windows and Linux)
Support from huge non-condescending community

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What is Open Source Hardware?
License
Schematics
PCB layout data
Bills of Sale (component distributors...)
Arduino is open source hardware: the Arduino hardware reference designs
are distributed under a Creative Commons Attribution Share-Alike 2.5 license,
available on the Arduino Web site.
Layout and production files for some versions are also available.
The source code for the IDE is available and released under the
GNU General Public License, version 2

Requirements for the microcontroller to make arduino :

1. Power
- It's an electrical component, so of course you have to give it power. But like
many ICs, the voltage used to operate it needs to be controlled relatively precisely.
There are three commonly used ways for controlling the voltage supplied to
microcontrollers:
I. A voltage regulator
II. A regulated power supply
III. Battery power

2. I/O
- Input and output, some way to communicate with the chip. This is generally
done through some kind of connection to the chip's pins. Breadboards are handy.
I. Limited
II. shields
III. Roll your own.

3. Programming Interface
- Some way to write programs and download them to the chip and run them.
We will be using the same microcontroller used on the Arduino board, a popular chip
made by the Atmel corporation -the Atmega 168 or 328. (These are 28 pin ICs with
identical pin designations, but the 328 has more memory.) The hardware interface
we'll be using is perhaps the simplest (and cheapest): connecting to it on a standard
breadboard.

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4.2 Arduino NANO

Types Of Arduino :

Arduino In Our Device Is 'Nano Arduino'

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 (Arduino Nano Front) (Arduino Nano Back)

figure (4.1) show Nano arduino

4.2.1 Overview:
The Arduino Nano is a small, complete, and breadboard-friendly board based on the
ATmega328 (Arduino Nano 3.x) or ATmega168 (Arduino Nano 2.x). 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. The Nano was designed and is being produced by Gravitech.

4.2.2 Specifications:
-Microcontroller Atmel ATmega168 or 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 16 KB (ATmega168) or 32 KB (ATmega328) of which 2 KB used by
bootloader
-SRAM 1 KB (ATmega168) or 2 KB (ATmega328)
-EEPROM 512 bytes (ATmega168) or 1 KB (ATmega328)
-Clock Speed 16 MHz
-Dimensions 0.73" x 1.70"
-Length 45 mm
-Width 18 mm
-Weigth 5 g

4.2.3 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

4.2.4 Memory
The ATmega168 has 16 KB of flash memory for storing code (of which 2 KB is used
for the bootloader); the ATmega328 has 32 KB, (also
with 2 KB used for the bootloader). The ATmega168 has 1 KB of SRAM and 512
bytes of EEPROM

40
- SRAM : memory for storing your data which are processed during the run time
(including also the registers, stack, etc.) - volatile memory
- FLASH : memory which your program stored - non volatile
- EEPROM : memory which can be used for storing non volatile data and changeable
during run-time. (for example: setting values, etc.)

4.2.5 Input and Output

Each of the 14 digital pins on the Nano can be used as an input or output,
using pinMode() , to see example please visit
(www.arduino.cc/en/Reference/PinMode ),
digitalWrite() , to see example please visit
(//www.arduino.cc/en/Reference/DigitalWrite)
digitalRead() , to see example please visit
(//www.arduino.cc/en/Reference/DigitalRead)
functions. They operate at 5 volts. Each pin can provide or receive a maximum of 40
mA and has an internal pull-up resistor (disconnected by default) of 20-50 kOhms. In
addition, some pins have specialized functions :

-Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial data.
These pins are connected to the corresponding pins of the FTDI USB-to-TTL Serial
chip.

-External Interrupts: 2 and 3. These pins can be configured to trigger an interrupt on a

low value, a rising or falling edge, or a change in value. See the attachInterrupt()
(//www.arduino.cc/en/Reference/AttachInterrupt) function for details.

- PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analogWrite()
function.

-SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI

communication, which, although provided by the underlyinghardware, is not
currently included in the Arduino language.

-LED: 13. There is a built-in LED connected to digital pin 13. When the pin is HIGH
value, the LED is on, when the pin is LOW, it's off.

The Nano has 8 analog inputs, each of which provide 10 bits of resolution (i.e. 1024
different values). By default they measure from ground to 5 volts, though is it
possible to change the upper end of their range using the analogReference() .

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-I2C: A4 (SDA) and A5 (SCL). Support I2C (TWI) communication using the Wire
library
(http://wiring.org.co/reference/libraries/Wire/index.html) (documentation on the
Wiring website).

4.2.6 Programming
The Arduino Nano can be programmed with the Arduino software (download
(//www.arduino.cc/en/Main/Software)). Select "ArduinoDiecimila, Duemilanove, or
Nano w/ ATmega168" or "Arduino Duemilanove or Nano w/ ATmega328" from the

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4.3 Driver interfacing
THIS CONNECTION CANOT BE DUE TO
The Microcontroller pin can't give more than 25mA in PIC16f877a, and there is
no motor with this low current, so if a 100mA motor connected it will damage
the pin.
The motor may not be a 5 voltage motor, what if I want to control a 24v motor?

Figure 4.2 show LD298 Motor Shield.

so we need low power device that we can control the micro controller and the
motor ,this device is DUAL FULL-BRIDGE DRIVER (L298).

DUAL FULL-BRIDGE DRIVER (L298)

Figure4.3 shows dual full bridge.

FEATURES
OPERATING . SUPPLY VOLTAGE UP TO 46 V.
TOTAL DC CURRENT UP TO 4 A.
LOW SATURATION VOLTAGE.
OVERTEMPERATURE PROTECTION.
LOGICAL "0" INPUT VOLTAGE UP TO 1.5 V
(HIGH NOISE IMMUNITY).

43
 DESCRIPTION

The L298 is an integrated monolithic circuit in a 15- lead Multiwatt and

PowerSO20 packages. It is a high voltage, high current dual full-bridge driver
designed to accept standard TTL logic levels and drive inductive loads such as
relays, solenoids, DC and stepping motors. Two enable inputs are provided to
enable or disable the device independently of the input signals. The emitters of the
lower transistors of each bridge are connected together and the corresponding
external terminal can be used for the connection of an external sensing resistor. An
additional supply input is provided so that the logic works at a lower voltage.

BLOCK DIAGRAM

figure 4.4 shows block diagram on driver

THE CONNECTION OF H-BRIDGE WITH UNIPOLAR STEPPER

MOTOR
The number of leads that a stepper motor has will tell you if it is a unipolar or
bipolar motor (or can be either), and determine how it is connected to the L298 H
bridge module. You will need to check your motors datasheet or do some testing
with a multimeter set to its resistance () range to determine which lead is which.
A motor with four leads
This bipolar motor has two leads for each of its two coils.

If you measure a low resistance between two of its leads, then these two
leads are connected to the first coil, and the other two leads are connected
to the second coil.
The motor can be connected to L298 H bridge module as shown in this
example:

44
 figure 4.5 shows interfacing of Driver and Motor

4.4 Servo Motor

A servo motor is an electrical device which can push or rotate an object with great
precision. To rotate and object at some speci c angles or distance, servo motor is
used. It is just made up of simple motor which run through servo mechanism. If
motor is used is DC powered then it is called DC servo motor, and if it is AC
powered motor then it is called AC servo motor. We can get a very high torque servo
motor in a small and light weight packages. Doe to these features they are being used
in many applications like toy car, RC helicopters and planes, Robotics, CNC
Machine etc. The position of a servo motor is decided by electrical pulse and its
circuitry is placed beside the motor.

4.4.1 Working principle of Servo Motors.

A servo consists of a Motor (DC or AC), a potentiometer, gear assembly and a
controlling circuit. First of all we use gear assembly to reduce RPM and to increase
torque of motor. Say at initial position of servo motor shaft, the position of the
potentiometer knob is such that there is no electrical signal generated at the output
45
port of the potentiometer. Now an electrical signal is given to another input terminal
of the error detector amplifier. Now difference between these two signals, one comes
from potentiometer and another comes from other source, will be processed in
feedback mechanism and output will be provided in term of error signal. This error
signal acts as the input for motor and motor starts rotating. Now motor shaft is
connected with potentiometer and as motor rotates so the potentiometer and it will
generate a signal. So as the potentiometer's angular position changes, its output
feedback signal changes. After sometime the position of potentiometer reaches at a
position that the output of potentiometer

Figure 4.6: Servo Motor

is same as external signal provided. At this condition, there will be no output signal
from the amplifier to the motor input as there is no difference between external
applied signal and the signal generated at potentiometer, and in this situation motor
stops rotating.

4.4.2 Controlling Servo Motor

Servo motor is controlled by PWM (Pulse with Modulation) which is provided
by the control wires. There is a minimum pulse, a maximum pulse and a repetition
rate. Servo motor can turn 90 degree from either direction form its neutral position.
46
The servo motor expects to see a pulse every 20 milliseconds (ms) and the length of
the pulse will determine how far the motor turns. For example, a 1.5ms pulse will
make the motor turn to the 90 position, such as if pulse is shorter than 1.5ms shaft
moves to 0 and if it is longer than 1.5ms than it will turn the servo to 180.

Servo motor works on PWM (Pulse width modulation) principle, means its angle of
rotation is controlled by the duration of applied pulse to its Control PIN. Basically
servo motor is made up of DC motor which is controlled by a variable resistor
(potentiometer) and some gears. High speed force of DC motor is converted into
torque by Gears. We know that WORK= FORCE X DISTANCE, in DC motor Force
is less and distance (speed) is high and in Servo, force is High and distance is less.
Potentiometer is connected to the output shaft of the Servo, to calculate the angle and
stop the DC motor on required angle. Servo motor can be rotated from 0 to 180
degree, but it can go up to 210 degree, depending on the manufacturing. This degree
of rotation can be controlled by applying the Electrical Pulse of proper width, to its
Control pin. Servo checks the pulse in every 20 milliseconds. Pulse of 1 ms (1
millisecond) width can rotate servo to 0 degree, 1.5ms can rotate to 90 degree
(neutral position) and 2 ms pulse can rotate it to 180 degree.

Figure 4.7: Controlling of Servo Motor (PWM)

47
4.5 Stepper Motor
A stepper motor is a type of DC motor which has a full rotation divided in an
equal number of steps. It is a type of actuator highly compatible with numerical
control means, as it is essentially an electromechanical converter of digital impulses
into proportional movement of its shaft, providing precise speed, position and
direction control in an open-loop fashion, without requiring encoders, end-of-line
switches or other types of sensors as conventional electric motors require. he steps of
a stepper motor represent discrete angular movements, that take place in a successive
fashion and are equal in displacement, when functioning correctly the number of
steps performed must be equal to the control impulses applied to the phases of the
motor. The final position of the rotor is given by the total angular displacement
resulting from the number of steps performed. This position is kept until a new
impulse, or sequence of impulses, is applied.
These properties make the stepper motor an excellent execution element of open-loop
control systems. A stepper motor does not lose steps, i.e. no slippage occurs, it
remains synchronous to control impulses even from standstill or when braked, thanks
to this characteristic a stepper motor can be started, stopped or reversed in a sudden
fashion without losing steps throughout its operation.

Figure 4.8: Stepper Motor

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 Chapter 5
Overall View of the Project

49
 Chapter 5
Overall View of the Project
5.1 Introduction

The complete mechanical system was designed in the metallic CD drive cover.
The designs in the project are :

X-Y Direction.
Pen setup.
Frame.
Final Setup
Y-axis: basic axis carries X-axis move from front to back.
X-axis: carries Z-axis move from left to right.
Z-axis: carries pen part move up and down.

5.2 X-Y Direction

In computing, an optical disc drive (ODD) is a disk drive that uses laser light or
electromagnetic waves within or near the visible light spectrum as part of the process
of reading or writing data to or from optical discs. Some drives can only read from
certain discs, but recent drives can both read and record, also called burners or
writers. Compact discs, DVDs, and Blu-ray discs are common types of optical media
which can be read and recorded by such drives. Optical disc drives that are no longer
in production include CD-ROM drive, CD writer drive, and combo (CD-RW/DVD-
ROM) drive. As of 2015, DVD writer drive is the most common for desktop PCs and
laptops. There are also the DVD-ROM drive, BD-ROM drive, Blu-ray Disc combo
(BD-ROM/DVDRW/CD-RW) drive, and Blu-ray Disc writer drive. The stepper
motor setup of CD drives are used in X-Y direction co-ordinate axis.

50
Figure 5.1: Lens Frame in CD Drive (Containing Stepper Motor.

51
5.3 Frame
The stand holding all the parts are made by the outer metallic cover of the cd drive.
Two covers are welded together perpendicularly for holding the x and y axis.

Figure 5.2: CD Drive Cover

5.4 Pen Setup (Z-axis)

For pen setup (z-axis) high-density breadboard (HDF) is used. It is a type of
berboard, which is an petroleum by product. It is of light weight. Servomotor is
adjusted inside the HDF to get the up and movement required to plot the object.

5.5 Final Setup

All the sections are integrated together to get a good output.

Figure 5.3: Pensetup

52
 Figure 5.4: View 1

Figure 5.5: View 2

The following steps shows the building stages of a low cost mini cnc plotter. For X and Y
axis, the stepper motors from CD drive is used. Servo motor is used for z axis. Inkscape,
Processing and Arduino IDE gives the command from the computer as G-code to the
arduino board to get the plotted output
Main Block Diagram:

53
Figure 5.6: Main Block Diagra

54
5.6 Steps Involved in the Project

Step 1-Industrial Design

1. First step to start building this cnc machine is to disassemble two dvd/cd drives
and take o them the stepper motors. Use the screwdriver to open them and take o
them the rails.

2. The outer metallic cover of cd drive is welded perpendicularly to make the stand
holding the x and y axis.

3. Attach the cd drive stepper motor setup as x and y axis. And make sure that the
Y axis is straight to CNC base and the X axis vertically to it.

4. Z axis (pen setup) is attached to the x axis. The pen setup is made up of HDF, the
servo motor is attached to it and the pen is setup inside the ber using screw and
spring.

5. A metallic base is attached to the Y axis for using as paper base. Then a paper is
put above it with the help some magnets.The printing area is 4x4cm.
Step 2-Arduino and Stepper Motor Setup

1. The adafruit L298D motor driver sheild compactible with the Arduino board is
mounted on it.
2. The Arduino is connected the computer port.
3. Check the stepper motors and the servo motor.
4. The stepper motors and the servo motor are connected to the motor shield.
5. The external power is connected. (Trainer Kit 12v,3A)

Step 3-Burning of Program and Gcode take in

1. The mini cnc plotting sketch is burned to the Arduino microprocessor (ATmega
328) by using Arduino IDE.
2. Gcode is made by Inkscape program.

3. Then use the gctrl.pde processing program. This program sends 'gcode' images
to the cnc plotter.
4. Plotting of the image is done.

55
5.7Result

Integrating the software along with the hardware and mechanical systems makes up
an e ective 2D plotter.

Figure 6.2: Plotted Output Image

56
 Chapter 6
Applications

57
 Chapter 6
Applications
The main applications of CNC machines comes in industrial field. Some of them are
discussed
below:
Metal Removal Applications { CNC machines are extensively used in industries
where metal removal is required. The machines remove excess metal from raw
materials to create complex parts. A good example of this would be the
automotive industries where gears, shafts and other complex parts are carved
from the raw material. CNC machines are also used in the manufacturing
industries for producing rectangular, square, rounded and even threaded jobs. All
processes, such as milling, grinding, turning, boring, reaming, etc, can be
controlled and carried out by these CNC machines using speci c machine tools
for each task.

Metal Fabrication Industry { Many industries require thin plates for di erent pur-
poses. These industries use CNC machines for a number of machining
operations such as plasma or ame cutting, laser cutting, shearing, forming and
welding to create these plates. CNC plasma or laser cutters are used for shaping
metal, while CNC turret presses are used for operations like punching holes.
Other operations like bending metal plates can also be carried out with very high
precision using CNC press brakes.

Electrical Discharge Machining Applications { Electrical Discharge Machines,

or EDMs as they are also known, remove metal from the raw material by
producing sparks that burn away the excess metal. EDM machining through
CNC automation is carried out in two di erent ways; rst through Wire EDM and
second through Vertical EDM. CNC automated Wire EDM is used to punch and
then die combinations for creating die sets used in the fabrication industry. CNC
automated Vertical EDM requires an electrode in the same size and shape as the
cavity that needs to be carved out.

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 4

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