instructables

Drawing Robot - Wifi Bluetooth USB CNC Shield Grbl_Esp32

by bluino_electronics

The Drawing Robot is a simple pen plotter. All of the custom parts are 3D printed. The rest of the parts are low cost and
easy to get. The controller uses an ESP32 running Grbl_ESP32 rmware. It can be controlled via USB, Bluetooth or Wi .
You can simply upload gcode les to the unboard SD card and print.
The machine is controlled by a unique H-bot con guration, that uses a single belt. Two Nema17 stepper motors drive
that belt in a special way to move in the X/Y plane. The pen is lifted by a hobby servo MG90/SG90 using a very simple and
accurate mechanism.
The Drawing Robot based on open source project by bdring, many thanks for develop this project. You can nd all the
rmware code Grbl_ESP32 in Github repo.
Supplies:

1x X Motor Support Acrylic

1x Y Motor Support Acrylic
1x Frame Cover Acrylic
1x Left Egg Holder 3D Printed Part
1x Right Egg Holder 3D Printed Part
1x Cap Support 3D Printed Part
1x Vertical Y Arm 3D Printed Part
1x Pen Holder 3D Printed Part
1x Drawbot Holder Support 3D Printed Part here
4x Spacer 3mm 3D Printed Part
1x V-slot Frame 2060 15cm
1x Controller ESP32 Drawing Robot Shield
2x Stepper Motor Nema17
1x Servo SG90
1x MicroSD 8GB
1x Bearing 693ZZ
1x Power Supply Adaptor 3A 8V
1x Linear Rod Dia.3mmx100mm
1x Press Spring
1x Knob M3
4x M5x6mm Hex Socket Screw
2x M5x8mm Hex Socket Screw
1x M5x12mm Hex Socket Screw
4x M3x8mm screw
8x M3x6mm screw

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 1x M3x25mm screw
1x M3 Nut
1x M2x10mm screw
1x M2 Nut
Marker

https://youtu.be/KZsZn5AJXMw

Step 1: Circuit Diagram Drawbot

Schematic.

Step 2: Part List of Shield

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Part List of ESP32 Drawing Robot Shield:
1 x PCB ESP32 Drawing Robot Shield
1x ESP32 DEVKIT V1 board
2x Driver Stepper Motor A4988
2x Micro-SD Adapter module
1x LED 3mm
2x V-Regulator 5V AMS1117 (SMD)
1x Resistor 10K Ohm
1x Capacitor 0.1uF
2x Capacitor 100uF/16V
1x Capacitor 1000uF/16V
1x DPDT Lock Switch 8.5x8.5mm
1x Barel Socket DC
2x Female Header 15 pin
4x Female Header 8 pin
2x Male Header 4 pin
1x Male Header 3 pin
2x Male Header 2 pin

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Step 3: PCB (PCBWay)

This article is proudly sponsored by PCBWAY.

To make this project you need to order a prototype PCB on PCBWAY. How to order is very easy and you will get 10 Pcs
PCB for $5 with very great PCB quality.
Step to Order:
1. SignUp/Log in on pcbway.com
2. Open this PCB project link ESP32 Drawing Robot Shield

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3. Click Add to cart.
4. Wait moment for PCB review, then Click Check Out.

Step 4: Soldering SMD & MicroSD Module

1. This shield has one SMD component, it is not too di cult to solder because the size of the SMD
component is quite large, so don't worry. You will need tweezers as a tool to hold the components when
soldered.
2. Solder 8 pin male header to microSD adapter module.
3. Remove plastic holder use pliers.
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4. Attach microSD adapter with male header soldered to PCB.
5. Solder pins male header on the back of PCB.
6. Cut the long legs male header.

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Step 5: Soldering Components

1. After nish solder SMD component and microSD adapter, next attach other trough hole components on
the PCB following the pictures and symbols on the PCB.
2. Solder all the component legs on the back of the PCB.
3. Cut all the long legs of the component wire.
4. Shield already nished solder

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Step 6: Attach Modules

Attach the ESP32 board and two Driver Stepper Motor A4988 into the female header socket as shown,
look at the pin name dont get the wrong orientation.

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Step 7: Holder X Motor

Prepare parts as below:

Acrylic Parts
X limit switch
8x M3 12mm
8x Nut M3
2x M2 12mm
2x Nut M2
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1. Install and tighten the X limit switch that has a soldered cable using 2 M2x12mm screw as shown below.
2. Attach acrylic set for motor holder into 5mm base acrylic.
3. Tighten use 4 M3x12mm screw.
4. Attach acrylic base for shield holder.
5. Tighten use 4 M3x12mm screw.
6. Prepare Acrylic Parts and 4 M3x10mm.
7. Stack two stoppers on the left and right 5mm base acrylic, then tighten use 2 M3x10mm screws.

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Step 8: Holder Y Motor

Prepare parts as below:

Acrylic Parts
8x M3 12mm
8x Nut M3

1. Attach acrylic set for motor holder into 5mm base acrylic.
2. Tighten use 4 M3x12mm screw.
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3. Attach cover acrylic.
4. Tighten use 4 M3x12mm screw.
5. Prepare Acrylic Parts and 4 M3x10mm.
6. Stack two stoppers on the left and right 5mm base acrylic.
7. Tighten use 2 M3x10mm screws.
8. Two XY holder motor are ready.

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Step 9: Back Support

Prepare parts as below:

Acrylic Parts
Bearing 624ZZ
4x M3 10mm
1x M4 20mm
2x Washer M4
1x Nut M4
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1. Stack the rst and second acrylic parts as shown below.
2. Next, stack the third part of the acrylic.
3. Tighten use 4 M3x10mm screws.
4. Insert the bearing into the acrylic hole with clamped by 2 washers, then insert the M4 20mm screw as
shown below.

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Step 10: Front Support

Prepare parts as below:

Acrylic Parts
3D Printed Support
4x M3 12mm

1. Stack the rst and second acrylic parts as shown below.

2. Then stack the third part of the acrylic.
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3. Last, stack the 3D Printed Support.
4. Tighten use 3 M3x10mm screws.
5. Attach the acrylic part as a belt stopper, use M3x10mm screw but dont tighten it.

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Step 11: Pen Holder

Prepare parts as below:

Acrylic Parts
Knob M3x25mm
4x M3 12mm
4x Nut M3
2x M3 10mm

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1. Attach two acrylic part as shown below.
2. Tighten use M3x12mm screws.
3. Also on the top, attach it and then tighten it.
4. Stack three acrylic pieces as below.
5. Tighten use 2 M3x10mm screws.
6. Attach acrylic asy with other shown as below, then tighten use 2 M3x12mm screw.
7. Install knob that is usefulfor holding pen as shown below.
8. Done, Pen Holder is ready.

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Step 12: Bottom Slider Holder

Prepare parts as below:

Acrylic Parts
4x Idler 3D Printed
4x Bushing 3D Printed
Y Limit Switch + Extended Cable
8x Slider Bearing LM8UU
4x Bearing 624ZZ
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 4x Screw M4x20mm
4x Washer M4
4x Spacer M3x25mm
4x Screw M3x8mm
4x Nut M3
8x Washer M3
2x Screw M2x12mm
2x Nut M2
20x Camble Ties 10mm

1. Place the 4 LM8UU in the square holes on acrylic part bottom slider holder as shown below.
2. Then tie the LM8UU body using cable ties.
3. Also for the other four LM8UU.
4. Cut the remaining length of the cable ties.
5. Insert the bearing 624ZZ into the idler hole.
6. Insert M4x20mm screw into inner hole of bearing 624ZZ.
7. Stack the 3d printed bushing with the M4 washer, place it in the hole, then install the idler assy on it.
8. Also install for other idler assy and tighten.

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Step 13: Top Slider Holder

1. Place the 4 LM8UU in the square holes on acrylic part top slider holder as shown below.
2. Then tie the LM8UU body using cable ties.
3. Also for the other four LM8UU.
4. Cut the remaining length of the cable ties.
5. Install Y limit switch as shown below, then tighten use M2x12mm screw & nut.
6. Put and arrange the extended cable as shown below.
7. Then tie the cable using cable ties.

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8. Cut the remaining length of the cable ties.
9. Part of Top Slider Holder Assy are ready to be combined.

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Step 14: Slider Holder Assy

1. Attach M3 washer and M3x25mm Spacer into Bottom Slider Holder Assy as shown below.
2. Then tighten use hex key.
3. Also install for other Spacer M3.
4. Install Top and Bottom Slider Holder Assy, attach washer M3 as shoen below.
5. Then tighten use 4 M3x8mm screw.
6. Finally, the Slider Holder Assy is done.

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Step 15: Threaded Rod

1. Install M8 nut and M8 Washer into threaded rod 460mm, then insert onto hole of 5mm base acrylic. then
clamp with M8 washer, spring washer & nut
2. Tighten M8 nut use hex key.
3. Install and tighten on other side treaded rod.

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Step 16: Linear Rod X

1. Insert two 8mm linear rod 450mm from outside (left) Y Motor Holder Assy.
2. Continue insert two linear rod into slider bearing LLM8UU of bottom slider holder.
3. Insert end of two linear rod into X Motor Holder Assy.
4. Tighten use M3x15mm screw as stopper each end of linear rod.
5. The X axis slider is done.

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Step 17: Linear Rod Y

1. With the bottom side facing up, insert two 8mm linear rod 350mm into slider bearing LLM8UU of top
slider holder.
2. Install back support assy into end of back Y linear rod.
3. Tighten use M4x15mm screw as stopper end of back Y linear rod.
4. Install front support assy into end of front Y linear rod.
5. Tighten use M4x15mm screw as stopper end of front Y linear rod.
6. The Y axis slider is done.

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Step 18: Install Motor

1. Install stepper motor Nema17 into Motor Holder. X axis motor on the right side with sort cable, Y axis
motor on the left side with extended cable.
2. Each stepper motor tighten use 4 M3x6mm.
3. Place and arrange extended cable following threaded rod.
4. Tie together with threaded rod using cable tie.

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Step 19: Install Belt

1. Now install the belt GT2 180cm though all of the motor pulleys and into inside of slider holder assy. Make
sure the belt is properly engaged in all pulleys and idlers. Make sure all parts are fully pushed onto the
6mm shafts.
2. Pull the belt tight while engaging the belt in the teeth of the belt grip. Trim the end of the belt with a little
12mm tail exposed. It will be trimmed closer later.
3. Because this Drawbot uses a long single belt that is interconnected between motor X and motor Y. The
working principle of the movement will be slightly di erent from usual, to understand you can pay

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attention to each motor movement.

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Step 20: Install Servo

1. Attach 3D printed bumper on the micro servo MG90 body.

2. Install servo into backside of Front Support assy as shown below.
3. Tighten use 2 M2x110mm & nut.
4. Connect servo pin header to extended cable on the Slider Holder assy.
5. Install horn of servo with enough position to lift the pen holder (about 30 degree) when G-code
command for servo Z5 or lift pen command.

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Step 21: Install Pen Holder

1. Insert two 3mm linear rod from top side 3D printed pen holder support.
2. Then attach pen holder assy, continue insert linear rod on top pen holder assy.
3. On the bottom pen holder attach one spring into 3mm linear rod.
4. Test manually for lift down and lift up of pen holder.

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Step 22: Install Controller

1. Install controller (ESP32 Drawing Robot Shield) on the right X Motor Holder assy as shon below. Use
spacer M3x8mm.
2. Install controller with microSD slot facing to front and power connector facing to back.
3. Connect the pin header as shown bellow, pay attention not to get the wrong orientation.

X and Y Stepper Motor Nema17

X and Y Limit switch
Servo MG90
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nsert micro-SD card.

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Step 23: Drawbot Is Ready

The hardware setup of Drawbot are complete. The next step is to upload and setup rmware.

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Step 24: Compile and Upload Firmware

The ESP32 version of the Drawbot uses Grbl_ESP32 rmware.

Follow the compile instructions.
Use the drawbot.h le for your machine de nition les.
Copy eggbot.h le into "../Grbl_Esp32-main/Grbl_Esp32/src/Machines/"
then on le Machines.h for customize set up to #include "Machines/drawbot.h"
Select the Minimal SPIFFS (1.9MB APP with OTA/190KB SPIFFS) partition scheme.

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Select the serial port that corresponds to your ESP32.
Click on the Upload button to begin the compilation/upload process.
Scroll to the bottom to see the nal upload result "Done Uploading".

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Step 25: Software for GRBL

The ESP3D-WEBUI project has been modi ed for use with Grbl_ESP32 by Luc of luc-github so you can control Grbl_ESP32
over WiFi using any browser, without needing any other programs. Follow guideline here.
LaserGRBL is one of the best Windows software for image Laser Engraving. LaserGRBL is able to load any image, pictures
and logo and send to your laser engrave with few click. Follow the instruction for setup LaserGRBL with Drawbot here.
Lightburn is in trial version for one month but wanting to buy it costs very little and gives you the possibility to use it on 2
computers at the same time. Follow the instruction for setup Lightburn with Drawbot here.

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