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ESP32

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3 – 6 Hours

Partial Kit

DIY pen plotter ESP32

An open-source, budget-friendly A3 DIY pen plotter powered by an ESP32 running FluidNC firmware, with image preprocessing handled via Inkscape, vpype, and a custom Python GUI.

Originally published on Hackaday.io

View original tutorial

Parts You'll Need

This project is sourced from another site, not written by us — this list is our best match of their components against what we stock, not a verified bill of materials. Always check the original blog (linked above) for the actual parts list before buying.

ESP32 WiFi+Bluetooth CP2102 Development Board Rs. 520.00
A4988 driver Stepper Motor Driver Rs. 125.00
110 RPM Single Shaft BO Motor – Straight Rs. 99.00
TowerPro SG90 Mini Servo – 180 degree Rotation – Standard Quality Rs. 179.00
400 Points Mini Solderless Prototype PCB Breadboard High Quality Rs. 89.00
MB102 Adjustable Breadboard Power Supply Module (3.3V & 5V) for Arduino & Raspberry Pi Rs. 139.00
Jumper Wire 10 Pin Male To Male 20cm Rs. 45.00
Jumper Wire 10 Pin Male To Female 20cm Rs. 45.00

Selected: Rs. 0.00

We don't carry yet: Screws / Nuts / Standoffs / Hardware
Custom PCB / PCB Fab
V-slot profile V2040
MGN12 linear rail
2x MGN12B carriages
5 smooth idlers

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How It Works

The DIY pen plotter ESP32 operates as a computer-numerical-control (CNC) drawing machine driven by an ESP32 microcontroller running FluidNC firmware. The ESP32 interprets G-code instructions and generates precise step and direction signals for two DRV8825 stepper drivers. These drivers regulate the current supplied to two NEMA17 stepper motors, which drive a mechanical motion system built from V-slot profile V2040 framing, MGN12 linear rails with MGN12B carriages, cylindrical guide shafts, linear bearings, toothed pulleys, and smooth idlers. This mechanical assembly translates rotational motor motion into accurate X and Y Cartesian coordinates. Additionally, an SG90 servo motor is integrated to lift and lower the pen off the plotting surface, controlling the Z-axis drawing state. For software preparation, users process source artwork using Inkscape, vpype, and a custom Python script featuring a CustomTkinter GUI to convert vector graphics into machine-readable G-code. The system is designed to interface with a custom printed circuit board currently in development to streamline wiring between the microcontroller, motor drivers, and actuators.

Why Build This

Apply kinematics and motion control principles by coordinating multi-axis stepper motor drivers and servo mechanisms.

Integrate hardware firmware configuration using FluidNC with custom software pipelines like Python GUIs and vector processing tools.

Design and assemble a precision structural CNC frame using industrial-style components like V-slot aluminum extrusions and linear rails.

Real-World Application

Automated drawing, artistic creation, custom vector plotting, and potential laser engraving for hobbyists and makers.

Skills You'll Learn

Stepper motor driver configuration

G-code interpretation

firmware flashing and management

mechanical motion system assembly

vector graphics preprocessing

Python GUI integration

Safety Precautions

Laser safety precautions such as protective eyewear and enclosures will be necessary if the planned laser attachment is implemented.

Technology Tags

ESP32

FLUIDNC

G-CODE

INKSCAPE

VPYPE

PYTHON

CUSTOMTKINTER

NEMA17

STEPPER MOTOR

SERVO MOTOR

CNC

PEN PLOTTER

Frequently Asked Questions

How do I convert my digital artwork into something the ESP32 can understand?

You use Inkscape along with vpype and a custom Python GUI script to process vector files and export them as G-code compatible with the FluidNC firmware.

What is the role of the SG90 servo motor in a pen plotter?

The SG90 servo acts as the Z-axis actuator, physically lifting the pen up from the paper or pressing it down to draw depending on the G-code commands.

Can I use standard Arduino GRBL instead of FluidNC?

The project specifies FluidNC firmware running on an ESP32, which is optimized for the ESP32's architecture and handles modern configuration management well.

Gallery

This page is part of Kitkraft's Project Hub — a curated collection of electronics & robotics projects gathered from the maker community to help students and hobbyists discover and learn to build. Kitkraft does not claim authorship of the original project, and makes no representation as to the accuracy, completeness or safety of third-party source material. The summary and "How It Works" explanation above are AI-generated, rewritten with reference to the original tutorial — not a reproduction of it. Full credit and a direct link to the original source are provided above. If you're the original creator and have a concern about how your work is represented here, please contact us and we'll address it promptly.

Kitkraft Project Hub — curated from the maker community, credited at the source.

PRJ-01631