New Final Project Report of CNC Plotter

 

“PORTABLE TWO AXIS CNC PRINTER” 

 

PROJECT REPORT- 2017-18 “PORT BLE TWO

XIS CNC PRINTER”

 

Submitted in partial fulfillment of the requirements requireme nts For the diploma in Electrical

Electronics Engg.

By: AATISH KUMAR SINGH. L AKSHAY KUMAR. R ARCHANA. N CHANDAN. B RAKSHITH GOWDA. CK ROOPESH. NP

433EE15001 433EE15007 433EE15009 433EE15012 433EE15045 433EE15045 433EE15048

DIRECTORATE OF TECHNICAL EDUCATION Guided By: Sri BHADRAPPA.H.R M.Tech 

Lecturer Dept. Of E&EE

P.V.P POLYTECHNIC

(Recognized by AICTE New Delhi, AIDED and Affilliated by G.O.K)

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“PORTABLE TWO AXIS CNC PRINTER” 

 

Dr. AIT Campus, Mallathall Mallathalli, i, Bengaluru  – 560 056

DEPARTMENT OF TECHNICAL EDUCATION

P.V.P POLYTECHNIC (Recognized by AICTE New Delhi, AIDED A IDED and Affiliated by G.O.K) DR.AIT Campus, Mallathahalli, Bengaluru-560 056

CERTIFICATE

This is to certify that this project entitled

“PORTABLE TWO AXIS CNC PRINTER”

which is being submitted by ROOPESH.NP Reg no 433EE15048 a student of P.V.P Polytechnic in partial fulfillment for the award of Diploma VI semester, ELECTRICAL & ELECTRONICS ENGG During the year 2017-18 is record of students own work carried out under my/our guidance. It is certified that all corection/suggestion indicate for internal assessment have been incorporate in the report and one copy of it being deposited to the  polytechnic library. The project report has been approved as it satisfies the academic requirements in respect of project work prescribe for the said Diploma. It is further understood that this certificate the undersigned do not endorse or approve any statements made, opimion expressed or conclusion draw there in but approve the project only for the purpose for which it is submitted.

Signature of the lecturer incharge of the batch

Signature of H.O.D Head of the Department

Examiner’s signature 1. 2. Dept. of E&EE

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“PORTABLE TWO AXIS CNC PRINTER” 

 

ACKNOWLEDGEMENT With deep sense of gratitude and regards, we thank our honorable principal Sri.G.P.MANJUNATH for taking extensive care while implementing our project.

We

express

our

sincere

gratitude

to

our

beloved

lecturer

Sri.H.R.BHADRAPPA for his guidance, encouragement and active participation

in completing this project. We

would

like

to

acknowledge

our

head

of

the

department

Sri.UMASHANKARA SWAMY.B for providing us the opportunity to work on

this project. We thank our parents for their co-operation and support, without whom  project would have have never seen the day light. We also wish to thank all those who have been helped directly or indirectly in carrying out this project work.

Project Team

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“PORTABLE TWO AXIS CNC PRINTER” 

 

DECLARATION  CANDIDATE’S DECLARATION 

I, ROOPESH.NP a student of Diploma in Electrical and Electronics Department bearing Reg No. 433EE15048 of PVP Polytechnic hereby declare that I own full responsibility for the information, results and conclusions provided in this project work titled CNC PRINTER ”submitted

AXIS

“PORTABLE TWO

to State Board of Technical Examinations, Government

of Karnataka for the award of Diploma in Electrical and Electronics.

To the best of my knowledge, this project work has not been submitted in part or full elsewhere in any other institution/organization for the award of any certificate/diploma/degree. I have completely taken care in acknowledging the contribution of others in this academic work. I further declare that in case of any violation of intellectual property rights and particulars declared, found at any an y stage, I, as the candidate will be solely responsible for the same.

Date: Place:

Signature of candidate

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“PORTABLE TWO AXIS CNC PRINTER” 

 

Table of Contents

Page. No Chapter 1 ABSTRACT INTRODUCTION Problem statement Objective of project Existing system Justification of the Project Scope of the Project Specification of the report Features of the Project Organisation of report 

Chapter 2 Purposed System Block diagram Components Working

Chapter 3 Fundamentals of Robotic System DC Stepper motor DC Servo motor

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“PORTABLE TWO AXIS CNC PRINTER” 

 

Chapter 4 Hardware Module  Arduino Uno board Stepper motor Stepper motor H-Bridge Motor drive shield L293D

Chapter 5 Software module Arduino IDE Inkscape G-CTRL

Chapter 6 Methodology of Robotic System Algorithm Test Plan Test Result Chapter 7

Conclusion

References

Appendix

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CHAPTER 1 ABSTRACT The invention of the XY-plotters is to recording or plotting 2dimensonal data on a rectangular co-ordinated system. This study emphasizes the Fabrication of a XY-plotter by using mechanisms from scanner and Microcontroller system (Arduino) to control the moment of XYaxis .modeling and analysis on XY-plotter is carried out through the computer link with the Arduino software.it is executed through the algorithms and g code and java programming. Keywords: plotters, Arduino, g-code.

INTRODUCTION In the present study, the XY plotter is designed to recording and plotting 2 dimensional data on a rectangular coordinate system. The material selection of the mechanism was made considering the cost and wide range of application such as servo motor. Servo motor can be differentiated through the cost, peak torque capability, speed range to compromise the standard and application of the system. Discuss the dynamic of a dual drive servo mechanism and develops a n XY gantry model consisting of a 2 motors for y control with another motor sliding the gantry in x direction. The design uses 2 parallel rails for y motion with a bar spanning across the rails which holds the end effectors of the system.in the other hand, the accuracy of plotting is the issue e to be concerned on the fabrication of XY plotter. Few papers have been devoted to  plotters in the term of their adjustment methods on the accuracy and moment of plotter. The XY  plotter system is a more simplified system comparing to the CNC system since CNC system is running on 3 axis direction and the programming is more complicated never the less, the coding for the CNC system which is the g code.

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THE OPERATION IS AS BELOW:

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We insert a photo or a written context contex t in to the folder.

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We open inkscape software and open properties and set the size of the paper.

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  The inserted image is scanned by the inkscape software.   Then the photo is converted from jpg form to G-Code form inkscape software.  

In inkscape it analize the image scale from curves to XY-axis of the motor momen momentt

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Then the converted G-Code is save in unicorn G-Code form in the computer.

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Then GCTRL software is opened we run the g-code then select the port.

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For selecting the port we press P for serial port COM-6 port p ort is selected.

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Then we press G for processing the converted G-Code in the cnc printer.

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Then the process repeats if some other image or written context.

PROBLEM STATEMENT Problem chosen is to implementation of “PORTABLE TWO AXIS CNC PRINTER “using   microcontrollers, STEPPER MOTOR and SERVO MOTOR with MOTOR DRIVER “using SHIELD.

OBJECTIVE OF PROJECT The main objective of our project is to secured portable two axis cnc printer.as we see nowadays cnc machines maintance is the major issue in the country. The number of modern machines is increasing day by day. And machines produced are required experienced worker. Or if we leave unexpernced person there won’t won’t be  be having proper safety, and also the machine owned by the owners are facing many problem, day by day. By observing all this improper maintance and inexperienced person working with machines, our aim is to provide  proper safety and maintance free machine for the future we can achieve greater development dev elopment in the industry of CNC machines. By this implementation in industry can be relaxed by this “PORTABLE TWO AXIS CNC PRINTER” her we provide the specific format of image (JPG), contexts and software to be used by the person using and reduce maintance.  

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EXISTING SYSTEM Cnc machines are very much essential in our day to day life in the production of the industry. This is basic need for leading the nation to achieve the goals. The existing system of cnc machines are:

HIGHLY SOPHISTICATED CNC MACHINES:This type of cnc machine are usually been seen in large scale industry and MNC company. The operators provide is very highly skilled person who requires very high salary for his skills it is not good for the company to give high wages.

JUSTIFICATION OF THE PROJECT Our project is the best and efficient idea for cnc operated machine arrangement for this  problem seen in existing system. Our project Our project named “PORTABLE TWO AXIS CNC PRINTER” is reliable and highly efficient one and best though for the future cnc operated machine system it can be implemented for their industries safely. We provide safe and maintance less nature to the workers by this, we can say our project is the best and good, efficient, eco-friendly, stress less, with high security provided for their cnc machines. machine s.

SCOPE OF THE PROJECT This project is highly efficient and reliable system so this has a very good performance and so it can be used u sed in many applications for better protection of the workers.

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SPECIFICATION OF THE REPORT Input

: digital input and output.

Output

: DC stepper motor, DC servo motor.

Domain

: embedded c.

Microcontroller Power supply

: atmega328p. : +12v, 1A regulated

DC Motor driver

: ad fruit l293d motor driver shield.

FEATURE OF THE PROJECT 1. scalable as per client requirement. 2. Can be used in any cnc operating industry. 3. reliable in operation. 4. Can be implemented in steel, sewing machine industry. 5. eco-friendly and ease in maintance. 6. Cost effective. 7. Minimize on site health and safety. 8. Low maintance than traditional cnc machines.

ORGANIZATION OF REPORT Chapter 1: Abstract, Introduction and Overview Chapter 2: Block diagram, Components and Working Chapter 3: Fundamentals of Robotic System Chapter 4: Hardware module Chapter 5: Software module Chapter 6: Methodology of project Chapter 7: Conclusion and Reference

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CHAPTER 2 METHODOLOGY OF A PROJECT CARRIED OUT ROUND PLATFORM  A portable two axis cnc printer is a mechanical and electronic device that multiplies cnc operated safe machines in the industry. Cnc machines are powered by Electric motor that moves the cartridge to the required position.

BLOCK DIAGRAM

OPERATION OF CNC MACHINE: For a CNC plotting machine to operate, 3 axes are required (x-axis, y-axis and z-axis. The x-axis and y-axis work in unison to create a 2D image on a plain paper. These x and y axis are placed 90 degrees to each other such that any point on the plain surface is defined by a given value of x and y. The z-axis is used lift and lowers the pen onto the plain paper. Depending on the image to be drawn, the computer will generate the appropriate coordinates and send them to the microcontroller through the USB port. The microcontroller interprets these coordinates and then controls the positions of the motors to create the image. Here we have used Arduino as the Microcontroller to build this CNC Machine.

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“PORTABLE TWO AXIS CNC PRINTER” 

 

COMPONENTS REQUIRED: 1.  Acrylic sheet (710mm x 710mm) 2.  Old DVD drives 3.  Bolts and nuts 4.  Adopter 12v,1A 5.  Arduino UNO 6.  L293D motor driver shield 7.  Mini servo motor 8.  A pen

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CHAPTER 3 FUNDAMENTALS OF CNC PRINTER SYSTEM

STEPPER MOTOR

Figure: stepper motor  

It is a 12V DC Stepper motor.  

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A stepper motor is a brushless, synchronous electric motor that can divide a full rotation into a large number of steps.

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The motor’s position can be controlled precisely without any feedback mechanism as long the motor is carefully sized to the application.

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In the project stepper motor is used to run the platform to the required place (ax (axis). is).

A. Efficiency:  

Cnc printer machine provides maximum space for the motor to run freely. B. cost efficiency:

This project system improves the viability of commercial and residual development of the industry.

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“PORTABLE TWO AXIS CNC PRINTER” 

 

SERVO MOTOR

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It is motor which can be operated from 4.5v-10v max.

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It is used to give only half rotation of the angle required.

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In our project we used stepper motor for lifting the cartridge up and down as per the required commands.

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“PORTABLE TWO AXIS CNC PRINTER” 

 

CHAPTER 4 HARDWARE MODULE ARDUINO BOARD  The Arduino board controller was advanced, viable, quick and better of force force framework framework control and administration administration utilizing utilizing installed installed

accomplishment

segments. It It containing the

oscillatory circuit, reset, reset, equipment segments and so on. The MCU is essential tthought hought of the PWM for controlling DC Motor. The output devices are used a LCD display which is connected on digital output of board. This LCD screen is used to display real time value of PWM and information for individual inwheel DC Motors or otherwise voltage across each motor terminal. A serial data communication method is used while the data transfer has intense to  passing MCU to external devices such as L293D DC Motor driver, LCD output device. In Arduino controller board, the digital outputs provided through the pin no’ no ’s are (5), (6), (10) and (11) are selected to transmit the PWM signal to DC Motor driver device

KEY FEATURES OF ARDUINO BOARD  Atmega328p microcontroller is a heart of the Arduino Uno boards. It is largest chip for Arduino UNO. Microcontroller development platform board used along with Arduino IDE (integrated development software) device programs. With simple C language, write programmers over microcontroller as a brain for operation to tell or to read signal from outside world and respond to this signal from arm imagination that how we want microcontroller react to the outside world measuring whatever we control with the data. Microcontroller chip have basic support circuitry chip that allow you to access information and respond to outside world. It has 3.3volt regulator 5volt regulator, and USB input port. The reset switch allows you to reset Microcontroller to start programme again. This board essentially is an autonomous board. Initially we need have to program it into flash memory, program remains in the chip even power off conditions. Initially you can get power from USB cable through which we are programmed or a separated 9V battery or from power source to the power this Board. The boards have a set of output digital pin provided 5 volts, analog inputs accept 0-5volt input that can read a voltage signal from outside world and information to microcontroller for realizing programs. We can access 3.3V and 5V for other customized

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“PORTABLE TWO AXIS CNC PRINTER” 

 

circuitry built various board called Arduino shield. This Arduino board is having preloaded software called boot loader program does allow us to make simpler programming language and store programs in a chip. In this board it also supports USB access a smaller microcontroller ATMEL16U2 so we don’t need a separate circuit provide for USB support.   It also has something called ICSE (in circuit serial programmer) for an external piece of hardware that used to programme a microcontroller to download software which actually in an assembly language.

ARDUINO-UNO DEVELOPMENT BOARD Function of each part explained below: (i)PROGRAMME MEMORY: - kind of flash memory used to store the Arduino sketch, the memory can be stored and cleared more number of time. (ii) EEPROM: - this is ordinarily used to secure the basic data that should not be lost, even though the power supply unexpectedly stops. (iii) RAM: - Temporary or volatile memory utilized for project execution. (iv) Analog and Digital port: - used to connect the controller and outside world. This has six Analog pins, and fourteen digital pins. (v) Central Processing Unit: - Atmega328P microcontroller is a heart of the Arduino Uno boards. This block and executes the program. (vi) Small controller ATmega16U2 on the board makes serial communication port to software on the computer.

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“PORTABLE TWO AXIS CNC PRINTER” 

 

(vii) Peripherals: - The Arduino Uno external connections are used in this project as follows, they are  General purpose I/O Ports: Port C/ pin A0

: analog input

Port D

: RX and TX pins for USB to serial

Port D/digital out 3, 4, 5, 6

: Used for LCD Display

ADC/digital out 6, 9, 10, 11 : PWM output USB

: Serial Communication

KEY FEATURE OF ATMEGA328P Atmega328P works with operating clock frequency is 16MHz. The simple

C language

is used in this project application. The programs written in C language are stored in the 32K words of FLASH Memory. It has two types of data memory, one is a 2KB of SRAM and the other is 1K EEPROM. It has 32 working registers, 20 general purpose I/O lines, 3 timer/counters work with compare modes, both external and internal interrupts, serial programmable USART, a byteoriented 2-wire serial interface, SPI serial port, 6-channel 10-bit ADC, programmable watchdog timer along with internal oscillator, and five power saving modes. The device can operate as low as 1.8-5.5 volts.

Atmega328p microcontroller architecture 

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“PORTABLE TWO AXIS CNC PRINTER” 

 

UNIVERSAL

SYNCHRONOUS

AND

ASYNCHRONOUS

SERIAL

RECEIVER AND TRANSMITTER The USART module is introduced for serial method of communication between master control unit and Computer. It is response is always through I/O Port D. This module can be used with the built-in serial monitor to communicate with an Arduino board to display the digital output. This unit is designed to send and receive the signal to/from correspond component. Since the parallel data communication has more speed than serial but it required multipin. This is a highly flexible communication device, it can also be used in Master SPI mode. The Power Reduction USART bit, PRUSART0, must be disabled by making register location in to logical zero. A diagram of the USART is shown in Figure 5.4. I/O Registers and I/O pins accessible by CPU are shown. Three main parts of the USART are a) Clock Generator, b) Transmitter and c) Receiver. Control Registers are shared with all units. Synchronization logic for external clock input is used by the baud rate generator, and synchronous slave operation for Clock Generation.

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“PORTABLE TWO AXIS CNC PRINTER” 

 

STEPPER MOTOR:

A Bi-polar stepper motor or a step motor is a brushless, synchronous motor which divides a full rotation into a number of steps. Unlike a brushless DC motor which rotates continually when a fixed DC voltage is applied to it, a step motor rotates in discrete steps angles. The Bi-polar stepper motors therefore are manufactured with steps per revolution of 12, 24, 74,144,180 and 200, resulting in stepping angles of 30, 15, 5, 2.5,2 and 1.8 degrees per step. The Bi-polar stepper motor can be controlled with or without feedback. Bi-polar stepper motors work on the principle of electro magnetism. There is a soft iron or magnetic rotor shaft surrounded by the electromagnetic stators. The rotor and stator have  poles which may be teeth or not depending upon the type of stepper, when the stators are energized the rotor moves to align itself along with the stator (in case of a permanent magnet type stepper) or moves to have a minimum gap with the stator (in case of variable reluctance stepper), this way the stators are energized in a sequence to rotate the stepper motor get more information about working of stepper motors through interacting images at the stepper motor insight.

ADVANTAGES 

Low cost for control achieved   High torque at startup and low speeds  

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Ruggedness

 

Simplicity of construction

 

Can operate in an open loop control system

 

Low maintenance

 

Less likely to stall or slip

 

Will work in any environment

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Can be used in robotics in a wide scale.

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“PORTABLE TWO AXIS CNC PRINTER” 

 

SERVO MOTOR

We are using a 12v DC geared motor in order to provide the robot movement and for the rotation of cartridge (pen). A geared DC motor has h as a gear assembly to the motor in order to control its speed & it is counted. A servo motor is an electrical device which can push or rotate an o object bject with great  precision. If you want to rotate and object at some specific angles or distance, then you use servo motor. 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 moto r then it is called AC servo motor. Servo motor works on PWM (Pulse width modulation) principle means its angle of rotation is controlled by the duration of applied pulse pu lse 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 co nverted into torque by Gears. Servo motors are available at different shapes and sizes. A servo motor will have mainly there wires, one is for positive voltage another is for ground and last one is for position setting. The RED wire is connected to power, Black wire is connected to ground and YELLOW wire is connected to signal.

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“PORTABLE TWO AXIS CNC PRINTER” 

 

H-Bridge How do we make a motor turn? You take a battery; hook the positive side to one side of your DC motor. Then you connect the negative side of the battery to the other motor lead. The motor spins forward. If you swap the  battery leads the motor spins in reverse. Ok, that's basic. Now let’s say you want a Micro Controller Unit (MCU) to control the motor, how would you do it?

Connections for clockwise rotation of motor If you connect this circuit to a small hobby ho bby motor you can control the motor with a  processor (MCU, etc.) Applying a logical one, (+12 Volts in our example) to point A causes the motor to turn forward. Applying a logical zero, (ground) causes the motor to stop turning (to coast and stop).

Connections for anti-clockwise rotation of motor

An H-bridge is an electronic circuit which enables a voltage to be applied across ac ross a load in either direction. These circuits are often used in robotics and other applications to allow DC

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“PORTABLE TWO AXIS CNC PRINTER” 

 

motors to run forwards and backwards. H-bridges are available av ailable as integrated circuits or can be  built from discrete components. The key fact to note is that there are, in theory, four switching elements within the bridge. These four elements are often called, high side left, high side right, low side right, and low side left (when traversing in clockwise order). The "high side drivers" are the relays that control the positive voltage to the motor. This is called sourcing current. He "low side drivers" are the relays that control the negative voltage to sink current to the motor. "Sinking current" is the term for connecting the circuit to the negative side of the power supply, which is usually ground.

Figure 2.14 Schematic diagram of H-Bridge using relay  The switches are turned on in pairs, either high left and lower right, or lower left and high right,  but never both switches on the same "side" of the bridge. If both switches on one side of a bridge are turned on it creates a short circuit between the   battery battery plus and battery b attery minus terminals. This  phenomenon is called shoot through in the Switch-Mode Power Supply (SMPS) literature. If the  bridge is sufficiently powerful it will absorb that load and your batteries will simply drain quickly. Usually however the switches in question melt.

To power the motor, you turn on two switches that are diagonally opposed. In the picture to the right, imagine that the high side left and low side right switches are turned on.

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Figure 2.15 Working of basic bridge Then for reverse you turn on the upper right and lower left circuits and power flows through the motor in reverse.

MOTOR DRIVER SHIELD (L293D)

 

Four H-Bridges: Two L293D Motor driver chips

 

L293D is rated at 0.6A per bridge (1.2A peak) with thermal shutdown protection, internal



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kickback protection diodes.  

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Motor Voltages from 4.5VDC to 32VDC. (up to 36V if C6 and C7 are upgraded) Up to 4  bi-directional DC motors with individual 8-bit speed selection selection (256 speeds)

 

Up to 2 stepper motors (unipolar or bipolar)  

 

Pull down resistors keep motors disabled during power-up

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Separate Logic and Motor power connections   Terminal block connectors for motors and power.

 

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Pin no

Name

Function

1

Enable1,2

Enable pin to control 1,2 driver

2

Input 1A

Input to control 1Y

3

Output 1Y

Output, connect to motor

4

GND

Ground and heat sink

5

GND

Ground and heat sink

6

Output

Output, connect to motor 2Y

7

Input 2A

Input to control 2Y

8

Vcc2

Output supply voltage

9

Enable3,4

Enable pin to control 3,4 driver

10

Input 3A

Input to control 3Y

11

Output 3Y

Output, connect to motor

12

GND

Ground and heat sink

13

GND

Ground and heat sink

14

Output 4Y

Output, connect to motor

15

Input 4A

Input to control 4Y

16

Vcc1

Supply voltage(7 max)

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PIN FUNCTION

FEATURES  

Wide Supply-Voltage Range: 4.5 V to 36 V

 

Separate Input-Logic Supply

 

Internal ESD Protection

 

Thermal Shutdown

 

High-Noise-Immunity Inputs

 

Output Current 600 mA Per Channel

 

Peak Output Current 1.2 A Per Channel

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74HC595

The 74HC595 consists of an 8−bit shift register and a storage register with three−state  parallel outputs. It converts conve rts serial input into parallel output o utput so that you can c an save IO ports p orts of o f an MCU. The 74HC595 is widely used to indicate multipath LEDs and drive multi-bit segment displays. "Three-state" refers to the fact that you can set the output pins as either high, low or "high impedance." With data latching, the instant output will not be affected during the shifting; with data output, you can cascade 74HC595s more easily.

PIN FUNCTION

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 No

Name

Function

1

Q0-Q7

8-bit parallel data output pins, able to control 8 LEDs or 8 pins of 7-segment display directly.

2

Q7’ 

Series output pin, connected to DS of another 74HC595 to connect multiple 74HC595s in series

3

MR

Reset pin, active at low level; here it is directly connected to 5V.

Time sequence input of shift register. On the rising edge, the data in shift register moves successively one bit

4

SHcp i.e. data in Q1 moves to Q2, and so forth. While on the falling edge, the data in shift register remain unchanged.

5

STcp

Time sequence input of storage register. On the rising edge, data in the shift register moves into memory register.

6 7 8 9

OE

Output enable pin, active at low level

DS

Serial data input pin

VCC

Positive supply voltage

GND

Ground

FEATURES  

8-Bit Serial-In, Parallel-Out Shift

 

Wide Operating Voltage Range of 2 V to 6 V

 

High-Current 3-State Outputs Can Drive Up To 15 LSTTL Loads

 

Low Power Consumption, 80-µA Max ICC

 

Typical tpd = 13 ns

 

Low Input Current of 1

 

Shift Register Has Direct Clear

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THE SCHEMATIC DIAGRAM OF L293D DRIVER SHIELD

PERSONAL COMPUTER   Personnel computers are very important for programming the Arduino board through serial communication. Boot loader with Arduino controller will simplify the uploading process of sketches to the flash memory. If we see that any other microcontrollers need an external  programmer. But here in this case on chip flash memory and boot loader of Arduino board straight forward make use of a PC as a programmer. Presently Arduino boards are communicating with computers or programmed via USB with the help of adapter chips. When used with traditional microcontroller tools instead of the Arduino IDE, standard AVR in-system  programming (ISP) programming is used.

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CHAPTER 5 SOFTWARE MODULE INTRODUCTION  A programming dialect is used to pass on the rules to CPU or microcontroller and obliges CPU to perform a specific work. To create a framework for an undertaking, the basic thing is to  pick a programming expression. In this endeavor, to make an undertaking which executed by CPU through programming area. By then, the venture heading of each bit of the structure is finished by application. The programming lingo can be segregated into two novel levels which is the low level and high state programming expression. The machine correspondence and low-level processing develop are under the characterizations of low level programming expression. The machine tongue is the primary  programming expression that can be fathomed by microcontroller it contains numbers (0's and 1's) for form or read the framework rule. Fortunately, there is a compiler that can be used to make an elucidation of others programming correspondence into machine level. The charge of low level processing build is particularly fundamental accordingly programming design needs to use extra time and put more effort in completing a befuddled task. Consequently, both of these correspondences are not reasonable for this endeavour even the low-level figuring build may give a short program execution time yet the time customer is not a fundamental issue for this endeavour. Besides, ATMEGA328P has an adequately unfathomable memory space to store the framework. High state writing computer programs is more straightforward to grasp by programming engineer differentiated and low-level programming correspondence as it is more sorted out, utilizations from the gear. Other than that, the irregular state programming composing involves variables, shows, calculating or Boolean expression, limits and others while the low-level  programming composing just oversees register and memory address. Along these lines, the  programming expression that starts from high state programming expression is the primary choice for some product engineer as the microcontroller ending up being all the more confounding, code progression using gathering gets the chance to be great and requires a considerable measure of data. Then again, there is a limitation for high state programming correspondence where it requires an all the more competent compiler to make an understanding of the framework into machine correspondence.

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SOFTWARE COMPONENTS  C and C++ languages using special rules to organize code supports by the Arduino IDE. Arduino integrated development environment (IDE) is an application written in the programming language Java.

ARDUINO IDE Arduino programs can be written in any language with a compiler that produces machine code. Atmel provides an integrated development environment for microcontrollers, i.e. AVR Studio and the newer Atmel Studio. Arduino integrated development environment (IDE) is an application written in the  programming language Java. It originated from the Integrated Development Environment for the languages processing. This software development is designed to introduce newcomers unfamiliar with software for programming. It consists of a code editor with features such as automatic indentation, syntax, and brace matching. Arduino integrated development environment (IDE)  provides compile and load programs to an Arduino board in one click mechanism. A program written for Arduino with the integrated development environment is called a "sketch".  C and C++ languages using special rules to organize code supports by the Arduino IDE.   The two functions in Arduino C/C++ sketch compiled and linked with a program stub main ()  into an executable cyclic executive program are: Setup (): this is a function can can initialize settings and runs runs once at the start of a program. Loop (): a function called repeatedly.

SOFTWARE PROGRAMMING The Arduino board can be programmed with the Arduino integrated development environment (IDE) by Selecting the "Arduino/Genuine Uno" from the Tools. The ATmega328p on the Uno built with a boot loader that allows you to upload new code to it therefore it doesn't require external hardware programmer. It communicates using the original STK500 protocol. It also has something called ICSP (in circuit serial programmer) for an external piece of hardware that used to program a microcontroller to download software which actually in an assembly language by selecting Arduino ISP or similar.

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In this board it also supports USB programmer to access a smaller microcontroller The ATmega16U2 firmware so we don't need a separate circuit provide for USB Support. After compiling and linking with the GNU tool chain, c hain, also included

With the IDE distribution, an IDE employs the program argued is used to convert the executable code into a text file. It’s in hexadecimal code that is loaded into the Arduino board boa rd by a loader in the board's firmware.

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INKSCAPE

Inkscape is a free a free and open-source vector open-source  vector graphics editor; it editor; it can be used to create or edit

vector graphics such as illustrations, diagrams, line arts, charts, logos and complex co mplex paintings. Inkscape's primary vector graphics format is Scalable is Scalable Vector Graphics (SVG), (SVG), however  however many other formats can be imported and exported

INTERFACING AND USABILITY One of the main priorities of the Inkscape project is interface consistency and usability .  This includes efforts to follow the human the human interface guidelines, universal guidelines, universal keyboard accessibility, and convenient on-canvas editing. Inkscape has achieved significant progress in usability since the project started. The number of floating dialog boxes has been reduced, with their functions available using keyboard shortcuts or in the docked toolbars in the editing window. The tool bar controls at the top of the window always display the controls relevant to the current tool. Inkscape provides mouse

over  tooltips   tooltips

and status bar  hints   hints for all buttons, controls, commands,

keys, and on-canvas handles. The status bar hint messages are dynamic: A given object can display up to four hints while editing it with just one on e tool.

PLATFORM SUPPORT  

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The latest version of Inkscape is available for  Ubuntu,   Ubuntu, Open SUSE, Microsoft SUSE, Microsoft

Windows and macOS and macOS platforms.  platforms. Both 32-bit and 64-bit versions are available for Windows PCs.

 

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Inkscape is packaged for all major  Linux  Linux distributions (including Debian, Ubuntu,

Fedora, Open SUSE

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GCTRL

Gctrl is a GUI (Graphical User Interface) program for use with GRBL. Gctrl is code that is meant to run on the software called "Processing". Gctrl provides control options for jogging and sending gcode. G-code  which has many variants is the common name for the most widely used  numerical control (NC)  used (NC) programming language.  language.  It is used mainly in computer-aided in computer-aided manufacturing to control automated machine tools.

G-code is a language in which people tell computerized machine computerized machine tools how to make something. The "how" is defined by g-code instructions provided to a machine controller (industrial computer) that tells the motors where to move, how fast to move, and what path to follow. The most common situation is that, within a  a  machine tool,  tool,  a cutting tool is moved according to these instructions through a tool path and cuts away material to leave only the finished work piece. The same concept also extends to noncutting tools such as forming or  burnishing tools,  tools, photo plotting, additive plotting, additive methods such as 3D printing, and measuring instruments.

Specific codes G-codes, also called preparatory codes, are any word in a CNC program that begins with the letter  G. Generally it is a code telling the machine tool what type of action to perform, such as:  

Rapid movement (transport the tool as quickly as possible p ossible in between cuts)

 

Controlled feed in a straight line or arc

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Series of controlled feed movements that would result in a hole being bored, a work piece cut (routed) to a specific dimension, or a profile (contour) shape added to the edge of a work  piece

 

Set tool information such as offset

 

Switch coordinate systems 

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CHAPTER 6 METHODLOGY OF THE PROJECT ALGORITHM FOR WIFI CONTROLLED MILITARY ROBOT Step 1

: we dump the code to microcontroller.

Step 2

: DC Stepper & servo servo Motor turns on and start running.

Step 3

: we process the image and convert it into g-code form.

Step 4

: we open Gctrl processor and select the port and the image to process.

Step 5

: sstepper tepper and servo motor starts starts running in both X&Y X&Y axis.

Step6

: stepper motor and servo motor turns off.

TEST PLAN  

command should be initialized

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The image should be converted into G-code form.

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In gctrl the port selection and G-code produced by the inkscape should be given to controller. The 12v, 1A DC supply should sho uld be given to the driver d river supply. The DC stepper motor ran smoothly in both XY-axis of the limited shaft. The cartridge (pen) which is inserted to the holder must run up and down freely. The commanded Gcode image must be drawn on the board suspended on the Y-Axis of the motor board.

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TEST RESULTS  

Command successfully got initialized.

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The image in inkscape got converted to g-code easily.

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The gctrl code and port selection of o f the Arduino got selected initially.

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The G converted code was send to the MCU initially.

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Motor successfully turn ON as soon as process begins.

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The cartridge (pen) ran smoothly on the suspended paper.

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The image which was given has been drawn as per the given command.

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CHAPTER 7

CONCLUSION In this study, it was attempted to develop XY plotter that accurately synchronize with th thee Arduino software system for better response for the moment of XY axis. Difference IDE and different languages have been tried and used to complete this project to meet the objectives. With a lot of new technologies been developing now days, this project serve to provide a good  platform for future development for XY plotter system and even other system. This capstone  project is the perfect way to demonstrate our understanding and the application of mechanical electrical egg knowledge in to solving every day’s day’s problem  problem for the benefit for mankind.

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REFERENCES

  https://www.youtube.com/watch?v=opZ9RgmOIpc

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  https://github.com/martymcguire/inksc...

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  https://playground.arduino.cc/Main/AdafruitMotorShield

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ARDUINO APPENDIX CODE: #include #include #define LINE_BUFFER_LENGTH 512 char STEP = MICROSTEP ; // Servo position for Up and Down const int penZUp = 115; const int penZDown = 83; // Servo on PWM pin 10 const int penServoPin =10 ; // Should be right for DVD steppers, but is not too important here const int stepsPerRevolution = 48; // create servo object to control a servo Servo penServo; // Initialize steppers for X- and Y-axis using this Arduino pins for the L293D H-bridge AF_Stepper myStepperY(stepsPerRevolution,1); AF_Stepper myStepperX(stepsPerRevolution,2); /* Structures, global variables struct point { float x; float y; float z; };

*/

// Current position of plothead struct point actuatorPos; // Drawing settings, settings, should should be OK float StepInc = 1; int StepDelay = 0;

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int LineDelay =0; int penDelay = 50; // Motor steps to go 1 millimeter. // Use test sketch to go 100 steps. Measure the length of line. // Calculate steps per mm. Enter here. float StepsPerMillimeterX = 100.0; float StepsPerMillimeterY = 100.0; // Drawing robot limits, in mm // OK to start with. Could go up to 50 mm if calibrated well. float Xmin = 0; float Xmax = 80; float Ymin = 0; float Ymax = 80; float Zmin = 0; float Zmax = 1;

float Xpos = Xmin; float Ypos = Ymin; float Zpos = Zmax; // Set to true to get debug output. boolean verbose = false; // // // //

Needs to interpret G1 for moving G4 P300 (wait 150ms) M300 S30 (pen down)

// M300 S50 (pen up) // Discard anything with a ( // Discard any other command! /********************** * void setup() - Initialisations ***********************/ void setup() { // Setup Serial.begin( 9600 ); penServo.attach(penServoPin); penServo.write(penZUp);

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delay(100); // Decrease if necessary myStepperX.setSpeed(600); myStepperY.setSpeed(600);

// Set & move to initial default position // TBD // Notifications!!! Serial.println("Mini CNC Plotter alive and kicking!"); Serial.print("X range is from "); Serial.print(Xmin); Serial.print(" to "); Serial.print(Xmax); Serial.println(" mm."); Serial.print("Y range is from "); Serial.print(Ymin); Serial.print(" to "); Serial.print(Ymax); Serial.println(" mm."); } /********************** * void loop() - Main loop ***********************/ void loop() { delay(100); char line[ LINE_BUFFER_LENGTH ]; char c; int lineIndex; bool lineIsComment, lineSemiColon; lineIndex = 0; lineSemiColon = false; lineIsComment = false; while (1) {

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// Serial reception - Mostly from Grbl, added semicolon support while ( Serial.available()>0 ) { c = Serial.read(); if (( c == '\n') || (c == '\r') ) { // End of line reached if ( lineIndex > 0 ) { // Line is complete. Then execute! line[ lineIndex ] = '\0'; // Terminate string if (verbose) { Serial.print( "Received : "); Serial.println( line ); } processIncomingLine( line, lineIndex ); lineIndex = 0; } else { // Empty or comment line. Skip block. } lineIsComment = false; lineSemiColon = false; Serial.println("ok"); } else { if ( (lineIsComment) || (lineSemiColon) ) { // Throw away all comment characters if ( c == ')' ) lineIsComment = false; // End of comment. Resume line. } else { if ( c = LINE_BUFFER_LENGTH-1 ) { Serial.println( "ERROR - lineBuffer overflow" ); lineIsComment = false; lineSemiColon = false; } else if ( c >= 'a' && c