This is Gondola PlottyBot v2<\/strong>, a vertical pen plotter you can build.<\/p>\n\n\n\nIt’s based on a Raspberry Pi Zero 2 W<\/a> and comes loaded with software to make it easy to use. It’ll create its own wifi network to connect to, but you can also have it connect to an existing one. Then controlling it is web based.<\/p>\n\n\n\nDeployment size is arbitrary, you can make a small one or a really big one.<\/p>\n\n\n\n<\/a><\/figure><\/li><\/a><\/figure><\/li><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<\/iframe>\n\n\n\n<h1 class=\"wp-block-heading\">Downloads<\/h1>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/ben.akrin.com\/downloads\/gondola_plottybot_v2_parts.zip\">STL Parts for 3D Printing<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"http:\/\/ben.akrin.com\/downloads\/gondola_plottybot_2026-05-27.img\">Raspberry Pi SD card image<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/gondola_plottybot_v2_circuit.jpg\" target=\"_blank\" rel=\"noreferrer noopener\">Circuit Diagram<\/a> (optional: for reference)<\/p>\n\n\n\n<h1 class=\"wp-block-heading\">Parts to Gather<\/h1>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3154-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3154-1024x686.jpg\" alt=\"\" class=\"wp-image-14517\"\/><\/a><\/figure><\/div>\n\n\n\n<h2 class=\"has-text-color wp-block-heading\" style=\"color:#993300\">3D Printed<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">All parts available here: <a href=\"https:\/\/ben.akrin.com\/downloads\/gondola_plottybot_v2_parts.zip\">download link<\/a>.<\/p>\n\n\n\n<pre class=\"wp-block-preformatted has-text-color\" style=\"color:#993300\">weight_cap_x3.stl\nside_weight_x2.stl\ngondola_weigth_x1.stl\nbelt_looper_x4.stl\ngondola_x1.stl\nlogic_box_cover_x1.stl\nlogic_box_x1.stl\nmotor_holder_x2.stl<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">Each file name contains the amount to print at the end (x4 means print 4 of this part).<\/p>\n\n\n\n<h2 class=\"has-text-color wp-block-heading\" style=\"color:#3366ff\"><br>Acquired<\/h2>\n\n\n\n<iframe class=\"aligncenter\" style=\"width: 100%; height: 500px;\" src=\"https:\/\/docs.google.com\/spreadsheets\/d\/e\/2PACX-1vSD6yetFgq38F0eHj4gdnsRh9ZRYtyIlyyOOYPlpEnQVU-u465uDxSdWY4o5XRcBivyGF9Eb1wui4Iq\/pubhtml\"><\/iframe>\n\n\n\n<h2 class=\"wp-block-heading\">Tools to have<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>soldering iron<\/li><li>glue gun (or sugru moldable glue)<\/li><li>allen wrench set<\/li><li>small phillips screwdriver<\/li><li>needle nose pliers<\/li><li>voltmeter (preferable)<\/li><li>cordless drill (preferable)<\/li><li>xacto knife<\/li><li>wire snippers<\/li><\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<h1 class=\"wp-block-heading\">Circuit<\/h1>\n\n\n\n<p class=\"wp-block-paragraph\">Here is the circuit diagram for reference. It is not needed for the instruction point out what to connect where, it’s only useful to cross-reference information.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/gondola_plottybot_v2_circuit.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/gondola_plottybot_v2_circuit-1-1024x590.jpg\" alt=\"\" class=\"wp-image-14673\"\/><\/a><\/figure><\/div>\n\n\n\n<h1 class=\"wp-block-heading\">Build Instructions<\/h1>\n\n\n\n<h2 class=\"wp-block-heading\">Logic Box<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">This is the meat of the project.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Perma Proto Bonnet Headers<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">Perma Proto Bonnet Mini Kit x1<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">First we’ll solder the headers the Perma Proto Bonnet came with. In years of building drawing machines, the Bonnet approach seems to be the best mix for building a stable machine while keeping some flexibility in building.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">You an use tape to hold the header in place and solder a couple of pins to hold it instead of the tape.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-3 is-cropped wp-block-gallery-2 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3156-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3156-scaled.jpg\" alt=\"\" data-id=\"14518\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3156-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14518\" class=\"wp-image-14518\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3157-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3157-scaled.jpg\" alt=\"\" data-id=\"14519\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3157-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14519\" class=\"wp-image-14519\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3159-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3159-scaled.jpg\" alt=\"\" data-id=\"14521\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3159-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14521\" class=\"wp-image-14521\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3160-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3160-scaled.jpg\" alt=\"\" data-id=\"14522\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3160-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14522\" class=\"wp-image-14522\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3161-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3161-scaled.jpg\" alt=\"\" data-id=\"14523\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3161-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14523\" class=\"wp-image-14523\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">Power to the Pi<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">12V power supply x1<br>12V power connector (female) x1<br>5V voltage regulator x1<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Grab the 5V voltage regulator<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3163-1.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3163-1-1024x666.jpg\" alt=\"\" class=\"wp-image-14526\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">We will hard set it to give us 5V, to do so we cut the potentiometer out, and we solder the 5V option.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3166-1-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3166-1-768x1024.jpg\" alt=\"\" class=\"wp-image-14528\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Then we solder the female 12V power connector.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-3 is-cropped wp-block-gallery-3 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3167-1024x602.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3167-1024x602.jpg\" alt=\"\" data-id=\"14529\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14529\" class=\"wp-image-14529\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3168-1024x785.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3168-1024x785.jpg\" alt=\"\" data-id=\"14530\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14530\" class=\"wp-image-14530\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3169-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3169-1024x441.jpg\" alt=\"\" data-id=\"14531\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3169-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14531\" class=\"wp-image-14531\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Plug it into the 12V power supply, make sure you have 12V at the supply side, and 5V at the orange wire.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-4 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3170-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3170-1024x601.jpg\" alt=\"\" data-id=\"14532\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3170-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14532\" class=\"wp-image-14532\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3171-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3171-1024x563.jpg\" alt=\"\" data-id=\"14533\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3171-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14533\" class=\"wp-image-14533\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Perfect, now let’s solder it into the Perma Proto Bonnet <strong>!! make sure the power supply is unplugged first !!<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-5 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3173-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3173-1024x768.jpg\" alt=\"\" data-id=\"14535\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3173-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14535\" class=\"wp-image-14535\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3174-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3174-1024x432.jpg\" alt=\"\" data-id=\"14536\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3174-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14536\" class=\"wp-image-14536\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">First Pi Boot<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">Raspberry Pi 2 Zero W x1<br>SD Card x1<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">With the power supply still unplugged, attach the bonnet to the Pi.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3177-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3177-1024x469.jpg\" alt=\"\" class=\"wp-image-14537\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Download the <a href=\"http:\/\/ben.akrin.com\/downloads\/gondola_plottybot_2026-05-27.img\">Gondola PlottyBot Pi image<\/a>, and write it to the SD card using the <a rel=\"noreferrer noopener\" href=\"https:\/\/www.raspberrypi.com\/software\/\" target=\"_blank\">Rapsberry Pi Imager.<\/a> When you get to the “OS” section, scroll all the way to the bottom to “Use custom” and point to the img file you just downloaded.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/Screenshot_2026-05-27_at_4_05_09\u202fPM.png\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/Screenshot_2026-05-27_at_4_05_09\u202fPM-1024x721.png\" alt=\"\" class=\"wp-image-14538\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Stick the SD card in the Pi, plug in the power supply and you should see the Pi’s LED light up.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3180-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3180-1024x506.jpg\" alt=\"\" class=\"wp-image-14539\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Now this first boot will take a good 10 to 15 minutes. It’s a good idea to not get impatient a unplug it. The first time things start, a whole lot of packages are being installed on a Pi Zero which is not exactly the spiffiest machine out there :). Rest assured it’ll have more than enough horsepower to run the plotter once everything is installed. You will know it’s done installing when a new wifi network shows up.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/Screenshot_2026-05-27_at_4_12_44\u202fPM.png\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/Screenshot_2026-05-27_at_4_12_44\u202fPM.png\" alt=\"\" class=\"wp-image-14541\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Go ahead and connect to it. Once connected, point your browser to <a rel=\"noreferrer noopener\" href=\"http:\/\/plottybot.local\" target=\"_blank\">http:\/\/plottybot.local<\/a> (or <a rel=\"noreferrer noopener\" href=\"http:\/\/10.0.0.5\" target=\"_blank\">http:\/\/10.0.0.5<\/a> if this didn’t work). You should see Gondola PlottyBot’s web interface:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/gondola_plottybot_web_interface.png\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/gondola_plottybot_web_interface-1024x927.png\" alt=\"\" class=\"wp-image-14543\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Super! No need to do anything in there we just wanted to make sure it worked. Let’s unplug the power supply, we’ll keep working on our circuit.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Stepper Motor Drivers<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">stepper driver x2<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">The stepper drivers have 2 pins which aren’t useful and will get in the way of circuitry so we snip them out.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-3 is-cropped wp-block-gallery-6 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3280-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3280-1024x750.jpg\" alt=\"\" data-id=\"14546\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3280-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14546\" class=\"wp-image-14546\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3281-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3281-1024x728.jpg\" alt=\"\" data-id=\"14547\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3281-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14547\" class=\"wp-image-14547\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3282-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3282-1024x768.jpg\" alt=\"\" data-id=\"14548\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3282-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14548\" class=\"wp-image-14548\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3283-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3283-1024x768.jpg\" alt=\"\" class=\"wp-image-14549\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Do so for the both of them. Then position them on the proto bonnet, and solder their pins on the bottom side.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-1 is-cropped wp-block-gallery-7 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3194-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3194-1024x367.jpg\" alt=\"\" data-id=\"14550\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3194-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14550\" class=\"wp-image-14550\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Whenever we solder something on the bottom side, we snip out extraneous tails.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3193-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3193-1024x768.jpg\" alt=\"\" class=\"wp-image-14557\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Watch your proto bonnet, it has a 5V bus and a 3V bus. They are separated even though they follow the same line, you want to make sure you tap into the right bus when you bring voltage somewhere. The ground bus is running continuously parallel to them.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3157-1.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3157-1-1024x445.jpg\" alt=\"\" class=\"wp-image-14562\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">We bring <strong>3V<\/strong> to them to their <strong>MS1<\/strong> pin.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-8 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3284-1-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3284-1-1024x458.jpg\" alt=\"\" data-id=\"14553\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3284-1-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14553\" class=\"wp-image-14553\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3285-1-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3285-1-1024x715.jpg\" alt=\"\" data-id=\"14554\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3285-1-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14554\" class=\"wp-image-14554\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">When we solder it, on the other side we bridge the <strong>MS1<\/strong> pin with the <strong>MS2<\/strong> pin so they will both get <strong>3V<\/strong>.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3286-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3286-1024x768.jpg\" alt=\"\" class=\"wp-image-14555\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">The documentation for these stepper drivers says that pulling both <strong>MS1<\/strong> and <strong>MS2<\/strong> up activates the highest microstepping.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/stepper_driver_doc.png\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/stepper_driver_doc-1024x947.png\" alt=\"\" class=\"wp-image-14556\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">We also bring <strong>3V<\/strong> to their <strong>VIO<\/strong> pin. This is to power them.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-9 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3289-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3289-1024x768.jpg\" alt=\"\" data-id=\"14558\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3289-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14558\" class=\"wp-image-14558\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3292-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3292-1024x768.jpg\" alt=\"\" data-id=\"14560\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3292-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14560\" class=\"wp-image-14560\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">They need 2 grounds each, so we bring 4 wires from the <strong>GND<\/strong> bus to their <strong>GND<\/strong> pins.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3294-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3294-1024x768.jpg\" alt=\"\" class=\"wp-image-14561\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">We bring Pi header pins <strong>#4<\/strong> & <strong>#5<\/strong> to the stepper drivers’ <strong>DIR<\/strong> (direction) pins.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3295-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3295-1024x576.jpg\" alt=\"\" class=\"wp-image-14563\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Then we bring Pi header pins <strong>#17<\/strong> & <strong>#6<\/strong> to the stepper drivers’ <strong>STEP<\/strong> pins.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3296-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3296-1024x603.jpg\" alt=\"\" class=\"wp-image-14564\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Then we bring Pi header pins <strong>#24<\/strong> & <strong>#16<\/strong> to the stepper drivers’ <strong>EN<\/strong> (enable) pins.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3297-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3297-1024x611.jpg\" alt=\"\" class=\"wp-image-14568\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Finally we add 2 wires to our female 12v connector and solder that into each driver’s <strong>VS<\/strong> (Volt Supply?) pin. This power is for the motors. The stepper drivers need only 3v to run their logic which they get from the Pi, but the stepper motors need an independent 12v.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-10 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3299-1024x344.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3299-1024x344.jpg\" alt=\"\" data-id=\"14569\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14569\" class=\"wp-image-14569\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3301-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3301-1024x718.jpg\" alt=\"\" data-id=\"14570\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3301-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14570\" class=\"wp-image-14570\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Space is getting tighter, and we’re about to make it worse. We are close to the end though, and it won’t get much more complicated than this.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Grab the 2 cables that came with your stepper motors. Make note of which end plugs into the stepper motor and which one is meant to go to a logic board. Snip & strip the end that goes into a logic board for the both of them (the pictures bellow only show 1).<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-11 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3303-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3303-1024x768.jpg\" alt=\"\" data-id=\"14572\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3303-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14572\" class=\"wp-image-14572\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3304-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3304-1024x818.jpg\" alt=\"\" data-id=\"14573\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3304-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14573\" class=\"wp-image-14573\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">You guessed it, we solder them into our logic board. Be careful to have the right colors in the right order.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-1 is-cropped wp-block-gallery-12 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3305-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3305-1024x641.jpg\" alt=\"\" data-id=\"14574\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3305-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14574\" class=\"wp-image-14574\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">Stepper Motors<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">Stepper Motors x2<br>Pi Zero 2 W x1<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Attach the proto bonnet to the Pi Zero 2 W. This is just headers and pins fitting together.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3308-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3308-1024x768.jpg\" alt=\"\" class=\"wp-image-14578\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Plug in your stepper motors and, moment of truth, let’s power this up with the 12V power supply. We’re going to test the motors. You can add a piece of tape on the motor shafts to make it more visible when they move.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3311-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3311-1024x680.jpg\" alt=\"\" class=\"wp-image-14577\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Once the “PlottyBot” wifi shows up, connect to it and point your browser to <a rel=\"noreferrer noopener\" href=\"http:\/\/plottybot.local\" target=\"_blank\">http:\/\/plottybot.local<\/a> (or <a rel=\"noreferrer noopener\" href=\"http:\/\/10.0.0.5\" target=\"_blank\">http:\/\/10.0.0.5<\/a> if this didn’t work). Scroll all the way down to the “Mechanics” section, and test each stepper in each direction, it should take 3200 steps to do a full 360\u00b0 turn.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-07_at_9_16_42\u202fAM.png\" target=\"_blank\" rel=\"noopener\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-07_at_9_16_42\u202fAM.png\" alt=\"\" class=\"wp-image-14609\" width=\"625\" height=\"565\"\/><\/a><\/figure><\/div>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/moving_steppers.gif\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/moving_steppers.gif\" alt=\"\" class=\"wp-image-14576\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">If your stepper motors are moving as expected, congratulations, you’ve done the hardest part! You can now create any machine that moves in 2 dimensions. If they don’t move as expected, check the next step <strong>1.7 Setting the stepper driver’s Vref<\/strong>. If that doesn’t fix it, issues are very much case by case but in general: check each wire’s contact, check connection mapping, try to swap the motors.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Setting the stepper driver’s Vref<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">To run optimally, the stepper motor drivers need to be tuned to the motor they’re driving. The drivers have a tiny potentiometer that can be adjusted to do just that.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3301-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3301-1024x490.jpg\" alt=\"\" class=\"wp-image-14600\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">There’s a lot of information out there for setting Vref for your stepper drivers\/motors, and I’m honestly a little confused about most of it, but our motors are rated for 1.5A, and this <a rel=\"noreferrer noopener\" href=\"https:\/\/printpractical.github.io\/VrefCalculator\/\" target=\"_blank\">Vref calculator<\/a> gives us a Vref of <strong>1.2<\/strong> for our driver. More importantly, I’ve got hundreds of hours of these drivers\/motors running perfectly with this value.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Using you voltmeter in DC volt sensing, you want the ground probe on a ground somewhere in the circuit. I used the negative side of our power connector:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3274.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3274.jpg\" alt=\"\" class=\"wp-image-14602\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">The positive probe of your voltmeter is then applied to the potentiometer of each stepper driver. Read the value and adjust the potentiometer with a small screwdriver until it reads <strong>1.2V<\/strong>.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">One trick you can do is to connect the positive probe of your voltmeter to the small screwdriver as such:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3332-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3332-1024x768.jpg\" alt=\"\" class=\"wp-image-14603\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">This way you can adjust the potentiometers and read the values at the same time. I unfortunately did not take a picture of the operation as it required both hands :). One holding the negative probe on a ground, and the other adjusting the potentiometer with the positive probe\/screwdriver. More info and pictured can be <a rel=\"noreferrer noopener\" href=\"https:\/\/all3dp.com\/2\/vref-calculator-tmc2209-tmc2208-a4988\/\" target=\"_blank\">found here<\/a> if you need more visuals.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">When you are done testing stepper motors & adjusting Vref, <strong>make sure to unplug power before moving on<\/strong> to the next steps. You can also unplug the stepper motors.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Servo Motor<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">Servo Motor<br>30AWG flexible wiring<br>3 pin male Dupont connector<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Give yourself a good length of 3 different colors or 30AWG flexible wiring. This is the wire that will travel from the logic box to the gondola.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3390-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3390-995x1024.jpg\" alt=\"\" class=\"wp-image-14579\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">It needs to be long enough to reach the bottom corners of your intended drawing area. To be future proof, it’s a good idea to make it significantly longer, and just bundle the extra in case you need it later. I’ve loosely braided the wires so they stay together. At one end, attach a 3 pin male Dupont connector. This will help us swap out Servo motors easily. If you bought the expensive A20CLS, they’ll go a long time before they die. If you are using cheaper servos like the SG90, they will die fast. On a long plot it’s a real pain and will waste time, fancy servos are worth every penny. MG90S will do pretty well but also die eventually.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3314-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3314-1024x591.jpg\" alt=\"\" class=\"wp-image-14580\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">The servo motor has a ground, power, and a signal wire. We solder the ground and wire into the 5V bus, which we extend by bridging it to nearby pins from the bus.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3317-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3317-1024x768.jpg\" alt=\"\" class=\"wp-image-14606\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">As with testing the stepper motors: power on the circuit, and hop on <a rel=\"noreferrer noopener\" href=\"http:\/\/plottybot.local\" target=\"_blank\">http:\/\/plottybot.local<\/a> (or <a rel=\"noreferrer noopener\" href=\"http:\/\/10.0.0.5\" target=\"_blank\">http:\/\/10.0.0.5<\/a>) in the browser. The servo action can be tested with the “Pen Up” and “Pen Down” buttons.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-07_at_9_13_26\u202fAM.png\" target=\"_blank\" rel=\"noopener\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-07_at_9_13_26\u202fAM.png\" alt=\"\" class=\"wp-image-14608\" width=\"625\" height=\"567\"\/><\/a><\/figure><\/div>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/servo_test.gif\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/servo_test.gif\" alt=\"\" class=\"wp-image-14610\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">We just added “tip action” to our 2D motion :). Make sure to <strong>power off the circuit<\/strong> before proceeding further.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Fan<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">12V fan x1<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Grab the 12V fan, snip the connector, strip the wire, and twist the ends.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-3 is-cropped wp-block-gallery-13 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3322-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3322-1024x711.jpg\" alt=\"\" data-id=\"14617\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3322-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14617\" class=\"wp-image-14617\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3323-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3323-1024x665.jpg\" alt=\"\" data-id=\"14618\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3323-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14618\" class=\"wp-image-14618\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3324-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3324-1024x768.jpg\" alt=\"\" data-id=\"14619\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3324-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14619\" class=\"wp-image-14619\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Add it to the now busy 12V power connector.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3326-copy.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3326-copy-1024x472.jpg\" alt=\"\" class=\"wp-image-14621\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Anytime you power your circuit now, the fan will come on to help cool it.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/12v_fan.gif\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/12v_fan.gif\" alt=\"\" class=\"wp-image-14623\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">It’s worth noting I have never found a nice quiet 12V fan in 30mm format. The one I have listed in the parts list isn’t great but it works. I found it noisy in my room and so I added another voltage regulator to it to make it run slower. If you have a recommendation for a nice fan in this format, please let me know. I think a a bit picky on fan noise, you might not object to hearing it, and you might not hear it at all depending on where you deploy your plotter.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Building the Logic Box<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#993300\">logix_box_x1.stl<br>logic_box_cover_x1.stl<\/p>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">Cable Glands PG9 x2<br>Cable Gland PG7 x1<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Attach the glands to the logic box in the holes in which they fit.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-14 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3319-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3319-768x1024.jpg\" alt=\"\" data-id=\"14614\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3319-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14614\" class=\"wp-image-14614\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3321-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3321-768x1024.jpg\" alt=\"\" data-id=\"14613\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3321-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14613\" class=\"wp-image-14613\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Run the wires for the stepper motors and for the servo motors through their respective glands. It helps to tied them up nicely after to help keep thing tidier.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3326-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3326-1024x768.jpg\" alt=\"\" class=\"wp-image-14622\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Taking your time and being very careful not to exert solders and connections too hard, install the various components of the circuit into the logic box.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3327-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3327-1024x768.jpg\" alt=\"\" class=\"wp-image-14624\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Apply little dabs of glue to keep things in place. There is no need to use too much glue, things should be pretty tight already, we just want to tack a corner or 2 in place. The only component I was generous with is the 12V power connector which will take pressure as we plug and unplug into it.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3329-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3329-1024x768.jpg\" alt=\"\" class=\"wp-image-14625\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">You can use zip ties to help manage wires.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-15 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3330-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3330-1024x768.jpg\" alt=\"\" data-id=\"14626\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3330-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14626\" class=\"wp-image-14626\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3331-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3331-1024x768.jpg\" alt=\"\" data-id=\"14627\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3331-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14627\" class=\"wp-image-14627\"\/><\/a><\/figure><\/li><\/ul><figcaption class=\"blocks-gallery-caption\">Add the stepper drivers’ heatsinks.<\/figcaption><\/figure>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3334-1024x768.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3334-1024x768.jpg\" alt=\"\" class=\"wp-image-14628\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Lastly, you can tack glue the logic box cover at the 4 corners.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-16 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3368-1024x774.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3368-1024x774.jpg\" alt=\"\" data-id=\"14646\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14646\" class=\"wp-image-14646\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3370-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3370-1024x921.jpg\" alt=\"\" data-id=\"14647\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3370-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14647\" class=\"wp-image-14647\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Stepper Motor Holders<\/h2>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#993300\">motor_holder_x2.stl<\/p>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">Stepper Motors x2<br>GT2 Timing Belt Pulley (20 teeth) x2<br>M3x8 hex socket screws x8<br>washers x8<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Attack the GT2 pulleys to the stepper motors shafts. Note the flat side of the shafts, make sure that one of the pulley’s tightening screws is lined up with it. Also note the orientation and top most position of the pulleys on the shafts.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-17 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3335-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3335-1024x768.jpg\" alt=\"\" data-id=\"14631\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3335-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14631\" class=\"wp-image-14631\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3337-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3337-1024x904.jpg\" alt=\"\" data-id=\"14634\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3337-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14634\" class=\"wp-image-14634\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3336-1-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3336-1-768x1024.jpg\" alt=\"\" data-id=\"14633\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3336-1-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14633\" class=\"wp-image-14633\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3338-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3338-1024x768.jpg\" alt=\"\" data-id=\"14635\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3338-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14635\" class=\"wp-image-14635\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Faster the motors on the motor holders. Note the orientation of the stepper motors’ connectors. They should be mirrored as each will be on either side of the logic box.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-18 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3340-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3340-1024x648.jpg\" alt=\"\" data-id=\"14636\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3340-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14636\" class=\"wp-image-14636\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3342-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3342-1024x768.jpg\" alt=\"\" data-id=\"14637\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3342-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14637\" class=\"wp-image-14637\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Gondola<\/h2>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#993300\">gondola_x1.stl<\/p>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">servo motor x1<br>M4x20 thumb screw bolt x1<br>M4 nut x1<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3360-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3360-1024x707.jpg\" alt=\"\" class=\"wp-image-14640\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">The servo motor should have come with it own screws. Use then to fasten it to the gondola. It is tricky to squeeze into position before attaching with the screws, I swear it’ll go in :).<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-19 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3361-1024x768.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3361-1024x768.jpg\" alt=\"\" data-id=\"14639\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14639\" class=\"wp-image-14639\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3362-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3362-1024x768.jpg\" alt=\"\" data-id=\"14641\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3362-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14641\" class=\"wp-image-14641\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Put the thumb screw bolt through the hole, add the M4 nut, and use the thumb screw bolt to pull the M4 nut into its seating. This is a pressure fit.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-3 is-cropped wp-block-gallery-20 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3363-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3363-1024x768.jpg\" alt=\"\" data-id=\"14642\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3363-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14642\" class=\"wp-image-14642\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3364-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3364-1024x768.jpg\" alt=\"\" data-id=\"14643\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3364-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14643\" class=\"wp-image-14643\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3365-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3365-1024x768.jpg\" alt=\"\" data-id=\"14644\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3365-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14644\" class=\"wp-image-14644\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Plug the servo into the circuit using its connector, power on the circuit, hop into the web interface and down to the “Mechanics” section. Click on the “Pen Down” button. When the servo it into the “Pen Down” position, attach the servo’s arm such that it is running along it, it should not go through the gondola. Once the arm attached, hit the “Pen Up” button and make sure that the arm now pushes the gondola away from the desk. You might need to adjust the servo’s range of motion with the <strong>pen_down_pulse_width<\/strong> & <strong>pen_up_pulse_width<\/strong> settings in the Mechanics sections, but hopefully the defaults just work.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/gondola_up_and_down.gif\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/gondola_up_and_down.gif\" alt=\"\" class=\"wp-image-14645\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Make sure to <strong>power of<\/strong>f the circuit when done testing.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Weights<\/h2>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#993300\">side_weigth_x2.stl<br>gondola_weight_x1.st<br>weight_cap_x3.stl<\/p>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">lego wheels x8<br>a bunch of dead weight, old batteries,misc. hardware, et cetera.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Attach the lego wheels to the 2 side weights, and load them with some mass. Make sure they weight the same. The gondola weight can be a little heavier than the other 2. I can’t tell you exactly how many grams to add, this largely depends on the size of your deployment. Because of this, it might not be the best time to glue the weight caps on, maybe keep them open for now until you’ve installed the plotter on a wall. When you have added enough mass to them that the belts are straight in all positions, it’s safe to close them.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-3 is-cropped wp-block-gallery-21 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3372-1024x768.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3372-1024x768.jpg\" alt=\"\" data-id=\"14648\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14648\" class=\"wp-image-14648\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3375-1024x768.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3375-1024x768.jpg\" alt=\"\" data-id=\"14649\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14649\" class=\"wp-image-14649\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3376-1024x768.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3376-1024x768.jpg\" alt=\"\" data-id=\"14650\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14650\" class=\"wp-image-14650\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3378-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3378-1024x768.jpg\" alt=\"\" data-id=\"14651\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3378-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14651\" class=\"wp-image-14651\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Belts & Deployment<\/h2>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#993300\">belt_looper_x4.stl<\/p>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">2×4 piece of lumber, the length of which depends on how big you want the drawing surface to be<br>GT2 timing belt<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Fasten the logic box and motor holders to your piece of lumber, which you can attach to a wall.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3380-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3380-1024x768.jpg\" alt=\"\" class=\"wp-image-14658\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Measure precisely the distance in centimeters between the centers of both motors. This is the only thing needed to calibrate the plotter, all the math is derived from this distance. And so if you keep the machine on the same piece of lumber, you don’t need to measure this every time.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3380_copy-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3380_copy-1024x271.jpg\" alt=\"\" class=\"wp-image-14659\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Grab you GT2 belts and belt loopers. Attach the gondola’s weight and a single side weight as bellow. Think of where the belt’s “teeth” are facing. Also unless you have a precise idea of the machine’s range of motion, you might want to leave a decent amount of extra belt slack to make adjustments later. Later when you are happy with everything you can trim it.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-3 is-cropped wp-block-gallery-22 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3381-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3381-1024x548.jpg\" alt=\"\" data-id=\"14660\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3381-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/gondola-plottybot-v2\/img_3381\/\" class=\"wp-image-14660\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3383-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3383-1024x595.jpg\" alt=\"\" data-id=\"14661\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3383-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/gondola-plottybot-v2\/img_3383\/\" class=\"wp-image-14661\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3384-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3384-1024x779.jpg\" alt=\"\" data-id=\"14662\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3384-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/gondola-plottybot-v2\/img_3384\/\" class=\"wp-image-14662\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Hang the belt around one of the stepper motor’s pulley.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3385-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3385-768x1024.jpg\" alt=\"\" class=\"wp-image-14663\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Now do the remaining motor weight, hang it on the other stepper motor, and join it to the gondola. This operation requires 3 hands :).<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3387-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3387-1024x916.jpg\" alt=\"\" class=\"wp-image-14664\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Lastly, connect the servo motor:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3391-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3391-768x1024.jpg\" alt=\"\" class=\"wp-image-14665\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Congratulations, your Gondola Plotter is ready :).<\/p>\n\n\n\n<h1 class=\"wp-block-heading\">Usage<\/h1>\n\n\n\n<h2 class=\"wp-block-heading\">Plotter Code<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">The plotter instructions (Plotter Code section in the web interface) are all normalized on a (X,Y) coordinate system going from 0 to 100. It doesn’t matter how big or small your plotter it, the instructions will always be from 0 to 100 on both axes.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-09_at_10_03_30\u202fPM.png\" target=\"_blank\" rel=\"noopener\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-09_at_10_03_30\u202fPM-1008x1024.png\" alt=\"\" class=\"wp-image-14682\" width=\"756\" height=\"768\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">The main instructions you can give it are as follows:<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code class=\"\">go_to(x, y)\npen_down()\npen_up()\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">Simple eh? You can go pretty far with lots of these.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">There also exits a few special instructions:<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code class=\"\">color( #888888 )\npause()\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">The color( #hex ) instruction won’t swap the pen for you, but it will be used in the preview, and it will pause the drawing at that point and ask for the pen swap in the web interface.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">The pause() instruction will just pause the drawing for you, which you can resume in the web interface.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Calibration<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">When you deploy the plotter<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Measure the distance between the centers of your 2 stepper motors. That is the calibration distance the plotter asks for before doing anything. It’ll remember it so as long as you don’t change where the motors are, this is a one time thing.<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3391_copy-1-973x1024.jpg\" alt=\"\" class=\"wp-image-14681\"\/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Make sure that you have enough belt length to cover all the extreme points of the drawing surface. There’s some math to figuring out what that length is, but I’ve never had issue just eyeballing it and adjusting a little.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">The best way to make sure everything will work (enough belt, weights don’t do too or too high, belts don’t sag), run code for a simple square 0->100 square that will take the gondola through all extreme positions.<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code class=\"\">go_to(0,0)\npen_down()\ngo_to(0,100)\ngo_to(100,100)\ngo_to(100,0)\ngo_to(0,0)\npen_up()\ngo_to(50,50)<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">To run this, you need to power on the plotter, and thus follow the calibration for that (give it the distance, and start in the center).<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">You cannot reach the extremest of extremes. The plotter has a built in 20% margin on all sides because some gondola positions are untenable by the hardware. This is called <strong>gondola_reserve_margin<\/strong> in the mechanics section, and you can adjust it for your deployment but you probably don’t want it much lower than 20%. If you are going to be drawing on papers of various sized, it’s much easier to adjust this variable than to move the stepper motors. For example, you could adjust it and “draw” the extremes squares until it fits your paper.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3391_copy-2-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3391_copy-2-973x1024.jpg\" alt=\"\" class=\"wp-image-14683\"\/><\/a><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">When you power on the plotter<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Make sure that the gondola is positioned at the very center of the drawing surface. That’s it :).<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3391_copy-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3391_copy-973x1024.jpg\" alt=\"\" class=\"wp-image-14680\"\/><\/a><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">GCode<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">This section is simply to convert <strong>GCode<\/strong> obtained from various software into <strong>Plotter Code<\/strong> above. The parsing is fairly rudimentary and known to work with quite a few GCode producing programs. If you run across one that doesn’t work, drop a comment. <a rel=\"noreferrer noopener\" href=\"https:\/\/inkscape.org\/\" target=\"_blank\">Inkscape<\/a> is quirky and slow for turning an SVG into GCode, but it’s also reliable once you figured out how to do it.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-09_at_10_21_32\u202fPM.png\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-09_at_10_21_32\u202fPM-1007x1024.png\" alt=\"\" class=\"wp-image-14688\"\/><\/a><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Handwriting Typewriter<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Not documented at the moment, I’m not sure why anyone want to use this on a Gondola Plotter, I developed it for the Tabletop version but it should work.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Mandalagaba<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Connect to <a rel=\"noreferrer noopener\" href=\"https:\/\/www.mandalagaba.com\" target=\"_blank\">Mandalagaba<\/a> in your browser, copy the session # and paste it in this section, click connect. The plotter will now reproduce live what is drawn in the session.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-09_at_10_28_57\u202fPM.png\" target=\"_blank\" rel=\"noopener\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-09_at_10_28_57\u202fPM-1007x1024.png\" alt=\"\" class=\"wp-image-14691\" width=\"755\" height=\"768\"\/><\/a><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Web Instruction<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Similar to the Mandalagaba section, this is meant to have the plotter take more generic instructions from an online source and reproduce them live. Give it a URL with such instructions and it’ll periodically refresh it to draw new ones as they appear.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Here’s an example of a set of instructions:<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"json\" class=\"language-json\">[\n {\n \"id\": 220,\n \"pcode\": \"go_to( 68.888888888889, 97.777777777778 )\\npen_down()\\ngo_to( 67.777777777778, 90 )\\ngo_to( 70, 92.222222222222 )\\ngo_to( 71.111111111111, 90 )\\ngo_to( 72.222222222222, 97.777777777778 )\\ngo_to( 68.888888888889, 97.777777777778 )\\npen_up()\\n\"\n },\n {\n \"id\": 221,\n \"pcode\": \"go_to( 50, 73.333333333333 )\\npen_down()\\ngo_to( 47.777777777778, 71.111111111111 )\\ngo_to( 48.888888888889, 73.333333333333 )\\ngo_to( 47.222222222222, 71.111111111111 )\\npen_up()\\n\"\n },\n {\n \"id\": 222,\n \"pcode\": \"go_to( 85.555555555556, 73.333333333333 )\\npen_down()\\ngo_to( 84.444444444444, 74.444444444444 )\\npen_up()\\n\"\n },\n {\n \"id\": 223,\n \"pcode\": \"go_to( 95.555555555556, 85.555555555556 )\\npen_down()\\ngo_to( 93.333333333333, 82.222222222222 )\\ngo_to( 91.111111111111, 85.555555555556 )\\ngo_to( 93.333333333333, 87.777777777778 )\\ngo_to( 95.555555555556, 85.555555555556 )\\ngo_to( 97.777777777778, 85.555555555556 )\\npen_up()\\n\"\n },\n\n ...\n\n]<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">The Plotter keeps track of which IDs it has already drawn vs not, so you can keep appending to the array with new ids\/instructions.<\/p>\n\n\n\n<h1 class=\"wp-block-heading\">Conclusion<\/h1>\n\n\n\n<p class=\"wp-block-paragraph\">Congratulations on making it this far :), I hope you found the instructions helpful. All the machines I document like this one use the same software stack. This is why you’ll find references to lasers & etchers if you look under the hood. I’ve been working on drawing machines for 8 years now, it’s a little crazy how far this journey went. I have to say this Gondola Plotter is the one I put the most hours on, by a long shot. It’s just a fun machine. I wish you the same path of discovery, wow moments, and sharing with others. There is real creativity in finding weird algorithms on the internet and getting them to do something novel. It’s often found in the best corners of the internet, and it often requires patience to get them working. If you have cool ideas, please get in touch, but keep in mind that time is unfortunately finite. If you do something cool with the machine, please drop a picture, it makes my day. Have fun!<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Introduction This is Gondola PlottyBot v2, a vertical pen plotter you can build. It’s based on a Raspberry Pi Zero 2 W and comes loaded with software to make it easy to use. It’ll create its own wifi network to connect to, but you can also have it connect to an existing one. Then controlling it is … <\/p>\n<p class=\"link-more\"><a href=\"https:\/\/ben.akrin.com\/?page_id=13787\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> “Gondola PlottyBot v2”<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"open","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-13787","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/ben.akrin.com\/index.php?rest_route=\/wp\/v2\/pages\/13787","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/ben.akrin.com\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/ben.akrin.com\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/ben.akrin.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ben.akrin.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=13787"}],"version-history":[{"count":0,"href":"https:\/\/ben.akrin.com\/index.php?rest_route=\/wp\/v2\/pages\/13787\/revisions"}],"wp:attachment":[{"href":"https:\/\/ben.akrin.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=13787"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
It’s based on a Raspberry Pi Zero 2 W<\/a> and comes loaded with software to make it easy to use. It’ll create its own wifi network to connect to, but you can also have it connect to an existing one. Then controlling it is web based.<\/p>\n\n\n\nDeployment size is arbitrary, you can make a small one or a really big one.<\/p>\n\n\n\n<\/a><\/figure><\/li><\/a><\/figure><\/li><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<\/iframe>\n\n\n\n<h1 class=\"wp-block-heading\">Downloads<\/h1>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/ben.akrin.com\/downloads\/gondola_plottybot_v2_parts.zip\">STL Parts for 3D Printing<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"http:\/\/ben.akrin.com\/downloads\/gondola_plottybot_2026-05-27.img\">Raspberry Pi SD card image<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/gondola_plottybot_v2_circuit.jpg\" target=\"_blank\" rel=\"noreferrer noopener\">Circuit Diagram<\/a> (optional: for reference)<\/p>\n\n\n\n<h1 class=\"wp-block-heading\">Parts to Gather<\/h1>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3154-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3154-1024x686.jpg\" alt=\"\" class=\"wp-image-14517\"\/><\/a><\/figure><\/div>\n\n\n\n<h2 class=\"has-text-color wp-block-heading\" style=\"color:#993300\">3D Printed<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">All parts available here: <a href=\"https:\/\/ben.akrin.com\/downloads\/gondola_plottybot_v2_parts.zip\">download link<\/a>.<\/p>\n\n\n\n<pre class=\"wp-block-preformatted has-text-color\" style=\"color:#993300\">weight_cap_x3.stl\nside_weight_x2.stl\ngondola_weigth_x1.stl\nbelt_looper_x4.stl\ngondola_x1.stl\nlogic_box_cover_x1.stl\nlogic_box_x1.stl\nmotor_holder_x2.stl<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">Each file name contains the amount to print at the end (x4 means print 4 of this part).<\/p>\n\n\n\n<h2 class=\"has-text-color wp-block-heading\" style=\"color:#3366ff\"><br>Acquired<\/h2>\n\n\n\n<iframe class=\"aligncenter\" style=\"width: 100%; height: 500px;\" src=\"https:\/\/docs.google.com\/spreadsheets\/d\/e\/2PACX-1vSD6yetFgq38F0eHj4gdnsRh9ZRYtyIlyyOOYPlpEnQVU-u465uDxSdWY4o5XRcBivyGF9Eb1wui4Iq\/pubhtml\"><\/iframe>\n\n\n\n<h2 class=\"wp-block-heading\">Tools to have<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>soldering iron<\/li><li>glue gun (or sugru moldable glue)<\/li><li>allen wrench set<\/li><li>small phillips screwdriver<\/li><li>needle nose pliers<\/li><li>voltmeter (preferable)<\/li><li>cordless drill (preferable)<\/li><li>xacto knife<\/li><li>wire snippers<\/li><\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<h1 class=\"wp-block-heading\">Circuit<\/h1>\n\n\n\n<p class=\"wp-block-paragraph\">Here is the circuit diagram for reference. It is not needed for the instruction point out what to connect where, it’s only useful to cross-reference information.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/gondola_plottybot_v2_circuit.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/gondola_plottybot_v2_circuit-1-1024x590.jpg\" alt=\"\" class=\"wp-image-14673\"\/><\/a><\/figure><\/div>\n\n\n\n<h1 class=\"wp-block-heading\">Build Instructions<\/h1>\n\n\n\n<h2 class=\"wp-block-heading\">Logic Box<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">This is the meat of the project.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Perma Proto Bonnet Headers<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">Perma Proto Bonnet Mini Kit x1<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">First we’ll solder the headers the Perma Proto Bonnet came with. In years of building drawing machines, the Bonnet approach seems to be the best mix for building a stable machine while keeping some flexibility in building.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">You an use tape to hold the header in place and solder a couple of pins to hold it instead of the tape.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-3 is-cropped wp-block-gallery-2 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3156-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3156-scaled.jpg\" alt=\"\" data-id=\"14518\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3156-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14518\" class=\"wp-image-14518\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3157-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3157-scaled.jpg\" alt=\"\" data-id=\"14519\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3157-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14519\" class=\"wp-image-14519\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3159-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3159-scaled.jpg\" alt=\"\" data-id=\"14521\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3159-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14521\" class=\"wp-image-14521\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3160-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3160-scaled.jpg\" alt=\"\" data-id=\"14522\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3160-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14522\" class=\"wp-image-14522\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3161-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3161-scaled.jpg\" alt=\"\" data-id=\"14523\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3161-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14523\" class=\"wp-image-14523\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">Power to the Pi<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">12V power supply x1<br>12V power connector (female) x1<br>5V voltage regulator x1<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Grab the 5V voltage regulator<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3163-1.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3163-1-1024x666.jpg\" alt=\"\" class=\"wp-image-14526\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">We will hard set it to give us 5V, to do so we cut the potentiometer out, and we solder the 5V option.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3166-1-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3166-1-768x1024.jpg\" alt=\"\" class=\"wp-image-14528\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Then we solder the female 12V power connector.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-3 is-cropped wp-block-gallery-3 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3167-1024x602.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3167-1024x602.jpg\" alt=\"\" data-id=\"14529\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14529\" class=\"wp-image-14529\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3168-1024x785.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3168-1024x785.jpg\" alt=\"\" data-id=\"14530\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14530\" class=\"wp-image-14530\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3169-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3169-1024x441.jpg\" alt=\"\" data-id=\"14531\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3169-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14531\" class=\"wp-image-14531\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Plug it into the 12V power supply, make sure you have 12V at the supply side, and 5V at the orange wire.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-4 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3170-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3170-1024x601.jpg\" alt=\"\" data-id=\"14532\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3170-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14532\" class=\"wp-image-14532\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3171-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3171-1024x563.jpg\" alt=\"\" data-id=\"14533\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3171-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14533\" class=\"wp-image-14533\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Perfect, now let’s solder it into the Perma Proto Bonnet <strong>!! make sure the power supply is unplugged first !!<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-5 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3173-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3173-1024x768.jpg\" alt=\"\" data-id=\"14535\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3173-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14535\" class=\"wp-image-14535\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3174-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3174-1024x432.jpg\" alt=\"\" data-id=\"14536\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3174-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14536\" class=\"wp-image-14536\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">First Pi Boot<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">Raspberry Pi 2 Zero W x1<br>SD Card x1<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">With the power supply still unplugged, attach the bonnet to the Pi.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3177-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3177-1024x469.jpg\" alt=\"\" class=\"wp-image-14537\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Download the <a href=\"http:\/\/ben.akrin.com\/downloads\/gondola_plottybot_2026-05-27.img\">Gondola PlottyBot Pi image<\/a>, and write it to the SD card using the <a rel=\"noreferrer noopener\" href=\"https:\/\/www.raspberrypi.com\/software\/\" target=\"_blank\">Rapsberry Pi Imager.<\/a> When you get to the “OS” section, scroll all the way to the bottom to “Use custom” and point to the img file you just downloaded.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/Screenshot_2026-05-27_at_4_05_09\u202fPM.png\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/Screenshot_2026-05-27_at_4_05_09\u202fPM-1024x721.png\" alt=\"\" class=\"wp-image-14538\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Stick the SD card in the Pi, plug in the power supply and you should see the Pi’s LED light up.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3180-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3180-1024x506.jpg\" alt=\"\" class=\"wp-image-14539\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Now this first boot will take a good 10 to 15 minutes. It’s a good idea to not get impatient a unplug it. The first time things start, a whole lot of packages are being installed on a Pi Zero which is not exactly the spiffiest machine out there :). Rest assured it’ll have more than enough horsepower to run the plotter once everything is installed. You will know it’s done installing when a new wifi network shows up.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/Screenshot_2026-05-27_at_4_12_44\u202fPM.png\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/Screenshot_2026-05-27_at_4_12_44\u202fPM.png\" alt=\"\" class=\"wp-image-14541\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Go ahead and connect to it. Once connected, point your browser to <a rel=\"noreferrer noopener\" href=\"http:\/\/plottybot.local\" target=\"_blank\">http:\/\/plottybot.local<\/a> (or <a rel=\"noreferrer noopener\" href=\"http:\/\/10.0.0.5\" target=\"_blank\">http:\/\/10.0.0.5<\/a> if this didn’t work). You should see Gondola PlottyBot’s web interface:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/gondola_plottybot_web_interface.png\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/gondola_plottybot_web_interface-1024x927.png\" alt=\"\" class=\"wp-image-14543\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Super! No need to do anything in there we just wanted to make sure it worked. Let’s unplug the power supply, we’ll keep working on our circuit.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Stepper Motor Drivers<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">stepper driver x2<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">The stepper drivers have 2 pins which aren’t useful and will get in the way of circuitry so we snip them out.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-3 is-cropped wp-block-gallery-6 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3280-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3280-1024x750.jpg\" alt=\"\" data-id=\"14546\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3280-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14546\" class=\"wp-image-14546\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3281-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3281-1024x728.jpg\" alt=\"\" data-id=\"14547\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3281-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14547\" class=\"wp-image-14547\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3282-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3282-1024x768.jpg\" alt=\"\" data-id=\"14548\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3282-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14548\" class=\"wp-image-14548\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3283-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3283-1024x768.jpg\" alt=\"\" class=\"wp-image-14549\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Do so for the both of them. Then position them on the proto bonnet, and solder their pins on the bottom side.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-1 is-cropped wp-block-gallery-7 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3194-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3194-1024x367.jpg\" alt=\"\" data-id=\"14550\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3194-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14550\" class=\"wp-image-14550\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Whenever we solder something on the bottom side, we snip out extraneous tails.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3193-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3193-1024x768.jpg\" alt=\"\" class=\"wp-image-14557\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Watch your proto bonnet, it has a 5V bus and a 3V bus. They are separated even though they follow the same line, you want to make sure you tap into the right bus when you bring voltage somewhere. The ground bus is running continuously parallel to them.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3157-1.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3157-1-1024x445.jpg\" alt=\"\" class=\"wp-image-14562\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">We bring <strong>3V<\/strong> to them to their <strong>MS1<\/strong> pin.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-8 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3284-1-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3284-1-1024x458.jpg\" alt=\"\" data-id=\"14553\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3284-1-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14553\" class=\"wp-image-14553\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3285-1-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3285-1-1024x715.jpg\" alt=\"\" data-id=\"14554\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3285-1-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14554\" class=\"wp-image-14554\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">When we solder it, on the other side we bridge the <strong>MS1<\/strong> pin with the <strong>MS2<\/strong> pin so they will both get <strong>3V<\/strong>.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3286-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3286-1024x768.jpg\" alt=\"\" class=\"wp-image-14555\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">The documentation for these stepper drivers says that pulling both <strong>MS1<\/strong> and <strong>MS2<\/strong> up activates the highest microstepping.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/stepper_driver_doc.png\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/stepper_driver_doc-1024x947.png\" alt=\"\" class=\"wp-image-14556\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">We also bring <strong>3V<\/strong> to their <strong>VIO<\/strong> pin. This is to power them.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-9 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3289-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3289-1024x768.jpg\" alt=\"\" data-id=\"14558\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3289-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14558\" class=\"wp-image-14558\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3292-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3292-1024x768.jpg\" alt=\"\" data-id=\"14560\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3292-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14560\" class=\"wp-image-14560\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">They need 2 grounds each, so we bring 4 wires from the <strong>GND<\/strong> bus to their <strong>GND<\/strong> pins.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3294-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3294-1024x768.jpg\" alt=\"\" class=\"wp-image-14561\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">We bring Pi header pins <strong>#4<\/strong> & <strong>#5<\/strong> to the stepper drivers’ <strong>DIR<\/strong> (direction) pins.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3295-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3295-1024x576.jpg\" alt=\"\" class=\"wp-image-14563\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Then we bring Pi header pins <strong>#17<\/strong> & <strong>#6<\/strong> to the stepper drivers’ <strong>STEP<\/strong> pins.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3296-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3296-1024x603.jpg\" alt=\"\" class=\"wp-image-14564\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Then we bring Pi header pins <strong>#24<\/strong> & <strong>#16<\/strong> to the stepper drivers’ <strong>EN<\/strong> (enable) pins.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3297-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3297-1024x611.jpg\" alt=\"\" class=\"wp-image-14568\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Finally we add 2 wires to our female 12v connector and solder that into each driver’s <strong>VS<\/strong> (Volt Supply?) pin. This power is for the motors. The stepper drivers need only 3v to run their logic which they get from the Pi, but the stepper motors need an independent 12v.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-10 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3299-1024x344.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3299-1024x344.jpg\" alt=\"\" data-id=\"14569\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14569\" class=\"wp-image-14569\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3301-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3301-1024x718.jpg\" alt=\"\" data-id=\"14570\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3301-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14570\" class=\"wp-image-14570\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Space is getting tighter, and we’re about to make it worse. We are close to the end though, and it won’t get much more complicated than this.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Grab the 2 cables that came with your stepper motors. Make note of which end plugs into the stepper motor and which one is meant to go to a logic board. Snip & strip the end that goes into a logic board for the both of them (the pictures bellow only show 1).<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-11 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3303-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3303-1024x768.jpg\" alt=\"\" data-id=\"14572\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3303-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14572\" class=\"wp-image-14572\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3304-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3304-1024x818.jpg\" alt=\"\" data-id=\"14573\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3304-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14573\" class=\"wp-image-14573\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">You guessed it, we solder them into our logic board. Be careful to have the right colors in the right order.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-1 is-cropped wp-block-gallery-12 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3305-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3305-1024x641.jpg\" alt=\"\" data-id=\"14574\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3305-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14574\" class=\"wp-image-14574\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">Stepper Motors<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">Stepper Motors x2<br>Pi Zero 2 W x1<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Attach the proto bonnet to the Pi Zero 2 W. This is just headers and pins fitting together.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3308-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3308-1024x768.jpg\" alt=\"\" class=\"wp-image-14578\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Plug in your stepper motors and, moment of truth, let’s power this up with the 12V power supply. We’re going to test the motors. You can add a piece of tape on the motor shafts to make it more visible when they move.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3311-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3311-1024x680.jpg\" alt=\"\" class=\"wp-image-14577\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Once the “PlottyBot” wifi shows up, connect to it and point your browser to <a rel=\"noreferrer noopener\" href=\"http:\/\/plottybot.local\" target=\"_blank\">http:\/\/plottybot.local<\/a> (or <a rel=\"noreferrer noopener\" href=\"http:\/\/10.0.0.5\" target=\"_blank\">http:\/\/10.0.0.5<\/a> if this didn’t work). Scroll all the way down to the “Mechanics” section, and test each stepper in each direction, it should take 3200 steps to do a full 360\u00b0 turn.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-07_at_9_16_42\u202fAM.png\" target=\"_blank\" rel=\"noopener\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-07_at_9_16_42\u202fAM.png\" alt=\"\" class=\"wp-image-14609\" width=\"625\" height=\"565\"\/><\/a><\/figure><\/div>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/moving_steppers.gif\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/moving_steppers.gif\" alt=\"\" class=\"wp-image-14576\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">If your stepper motors are moving as expected, congratulations, you’ve done the hardest part! You can now create any machine that moves in 2 dimensions. If they don’t move as expected, check the next step <strong>1.7 Setting the stepper driver’s Vref<\/strong>. If that doesn’t fix it, issues are very much case by case but in general: check each wire’s contact, check connection mapping, try to swap the motors.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Setting the stepper driver’s Vref<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">To run optimally, the stepper motor drivers need to be tuned to the motor they’re driving. The drivers have a tiny potentiometer that can be adjusted to do just that.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3301-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3301-1024x490.jpg\" alt=\"\" class=\"wp-image-14600\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">There’s a lot of information out there for setting Vref for your stepper drivers\/motors, and I’m honestly a little confused about most of it, but our motors are rated for 1.5A, and this <a rel=\"noreferrer noopener\" href=\"https:\/\/printpractical.github.io\/VrefCalculator\/\" target=\"_blank\">Vref calculator<\/a> gives us a Vref of <strong>1.2<\/strong> for our driver. More importantly, I’ve got hundreds of hours of these drivers\/motors running perfectly with this value.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Using you voltmeter in DC volt sensing, you want the ground probe on a ground somewhere in the circuit. I used the negative side of our power connector:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3274.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3274.jpg\" alt=\"\" class=\"wp-image-14602\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">The positive probe of your voltmeter is then applied to the potentiometer of each stepper driver. Read the value and adjust the potentiometer with a small screwdriver until it reads <strong>1.2V<\/strong>.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">One trick you can do is to connect the positive probe of your voltmeter to the small screwdriver as such:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3332-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3332-1024x768.jpg\" alt=\"\" class=\"wp-image-14603\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">This way you can adjust the potentiometers and read the values at the same time. I unfortunately did not take a picture of the operation as it required both hands :). One holding the negative probe on a ground, and the other adjusting the potentiometer with the positive probe\/screwdriver. More info and pictured can be <a rel=\"noreferrer noopener\" href=\"https:\/\/all3dp.com\/2\/vref-calculator-tmc2209-tmc2208-a4988\/\" target=\"_blank\">found here<\/a> if you need more visuals.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">When you are done testing stepper motors & adjusting Vref, <strong>make sure to unplug power before moving on<\/strong> to the next steps. You can also unplug the stepper motors.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Servo Motor<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">Servo Motor<br>30AWG flexible wiring<br>3 pin male Dupont connector<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Give yourself a good length of 3 different colors or 30AWG flexible wiring. This is the wire that will travel from the logic box to the gondola.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3390-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3390-995x1024.jpg\" alt=\"\" class=\"wp-image-14579\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">It needs to be long enough to reach the bottom corners of your intended drawing area. To be future proof, it’s a good idea to make it significantly longer, and just bundle the extra in case you need it later. I’ve loosely braided the wires so they stay together. At one end, attach a 3 pin male Dupont connector. This will help us swap out Servo motors easily. If you bought the expensive A20CLS, they’ll go a long time before they die. If you are using cheaper servos like the SG90, they will die fast. On a long plot it’s a real pain and will waste time, fancy servos are worth every penny. MG90S will do pretty well but also die eventually.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3314-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3314-1024x591.jpg\" alt=\"\" class=\"wp-image-14580\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">The servo motor has a ground, power, and a signal wire. We solder the ground and wire into the 5V bus, which we extend by bridging it to nearby pins from the bus.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3317-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3317-1024x768.jpg\" alt=\"\" class=\"wp-image-14606\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">As with testing the stepper motors: power on the circuit, and hop on <a rel=\"noreferrer noopener\" href=\"http:\/\/plottybot.local\" target=\"_blank\">http:\/\/plottybot.local<\/a> (or <a rel=\"noreferrer noopener\" href=\"http:\/\/10.0.0.5\" target=\"_blank\">http:\/\/10.0.0.5<\/a>) in the browser. The servo action can be tested with the “Pen Up” and “Pen Down” buttons.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-07_at_9_13_26\u202fAM.png\" target=\"_blank\" rel=\"noopener\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-07_at_9_13_26\u202fAM.png\" alt=\"\" class=\"wp-image-14608\" width=\"625\" height=\"567\"\/><\/a><\/figure><\/div>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/servo_test.gif\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/servo_test.gif\" alt=\"\" class=\"wp-image-14610\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">We just added “tip action” to our 2D motion :). Make sure to <strong>power off the circuit<\/strong> before proceeding further.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Fan<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">12V fan x1<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Grab the 12V fan, snip the connector, strip the wire, and twist the ends.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-3 is-cropped wp-block-gallery-13 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3322-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3322-1024x711.jpg\" alt=\"\" data-id=\"14617\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3322-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14617\" class=\"wp-image-14617\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3323-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3323-1024x665.jpg\" alt=\"\" data-id=\"14618\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3323-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14618\" class=\"wp-image-14618\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3324-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3324-1024x768.jpg\" alt=\"\" data-id=\"14619\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3324-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14619\" class=\"wp-image-14619\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Add it to the now busy 12V power connector.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3326-copy.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3326-copy-1024x472.jpg\" alt=\"\" class=\"wp-image-14621\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Anytime you power your circuit now, the fan will come on to help cool it.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/12v_fan.gif\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/12v_fan.gif\" alt=\"\" class=\"wp-image-14623\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">It’s worth noting I have never found a nice quiet 12V fan in 30mm format. The one I have listed in the parts list isn’t great but it works. I found it noisy in my room and so I added another voltage regulator to it to make it run slower. If you have a recommendation for a nice fan in this format, please let me know. I think a a bit picky on fan noise, you might not object to hearing it, and you might not hear it at all depending on where you deploy your plotter.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Building the Logic Box<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#993300\">logix_box_x1.stl<br>logic_box_cover_x1.stl<\/p>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">Cable Glands PG9 x2<br>Cable Gland PG7 x1<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Attach the glands to the logic box in the holes in which they fit.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-14 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3319-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3319-768x1024.jpg\" alt=\"\" data-id=\"14614\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3319-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14614\" class=\"wp-image-14614\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3321-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3321-768x1024.jpg\" alt=\"\" data-id=\"14613\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3321-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14613\" class=\"wp-image-14613\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Run the wires for the stepper motors and for the servo motors through their respective glands. It helps to tied them up nicely after to help keep thing tidier.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3326-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3326-1024x768.jpg\" alt=\"\" class=\"wp-image-14622\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Taking your time and being very careful not to exert solders and connections too hard, install the various components of the circuit into the logic box.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3327-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3327-1024x768.jpg\" alt=\"\" class=\"wp-image-14624\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Apply little dabs of glue to keep things in place. There is no need to use too much glue, things should be pretty tight already, we just want to tack a corner or 2 in place. The only component I was generous with is the 12V power connector which will take pressure as we plug and unplug into it.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3329-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3329-1024x768.jpg\" alt=\"\" class=\"wp-image-14625\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">You can use zip ties to help manage wires.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-15 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3330-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3330-1024x768.jpg\" alt=\"\" data-id=\"14626\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3330-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14626\" class=\"wp-image-14626\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3331-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3331-1024x768.jpg\" alt=\"\" data-id=\"14627\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3331-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14627\" class=\"wp-image-14627\"\/><\/a><\/figure><\/li><\/ul><figcaption class=\"blocks-gallery-caption\">Add the stepper drivers’ heatsinks.<\/figcaption><\/figure>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3334-1024x768.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3334-1024x768.jpg\" alt=\"\" class=\"wp-image-14628\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Lastly, you can tack glue the logic box cover at the 4 corners.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-16 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3368-1024x774.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3368-1024x774.jpg\" alt=\"\" data-id=\"14646\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14646\" class=\"wp-image-14646\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3370-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3370-1024x921.jpg\" alt=\"\" data-id=\"14647\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3370-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14647\" class=\"wp-image-14647\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Stepper Motor Holders<\/h2>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#993300\">motor_holder_x2.stl<\/p>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">Stepper Motors x2<br>GT2 Timing Belt Pulley (20 teeth) x2<br>M3x8 hex socket screws x8<br>washers x8<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Attack the GT2 pulleys to the stepper motors shafts. Note the flat side of the shafts, make sure that one of the pulley’s tightening screws is lined up with it. Also note the orientation and top most position of the pulleys on the shafts.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-17 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3335-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3335-1024x768.jpg\" alt=\"\" data-id=\"14631\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3335-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14631\" class=\"wp-image-14631\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3337-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3337-1024x904.jpg\" alt=\"\" data-id=\"14634\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3337-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14634\" class=\"wp-image-14634\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3336-1-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3336-1-768x1024.jpg\" alt=\"\" data-id=\"14633\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3336-1-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14633\" class=\"wp-image-14633\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3338-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3338-1024x768.jpg\" alt=\"\" data-id=\"14635\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3338-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14635\" class=\"wp-image-14635\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Faster the motors on the motor holders. Note the orientation of the stepper motors’ connectors. They should be mirrored as each will be on either side of the logic box.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-18 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3340-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3340-1024x648.jpg\" alt=\"\" data-id=\"14636\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3340-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14636\" class=\"wp-image-14636\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3342-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3342-1024x768.jpg\" alt=\"\" data-id=\"14637\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3342-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14637\" class=\"wp-image-14637\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Gondola<\/h2>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#993300\">gondola_x1.stl<\/p>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">servo motor x1<br>M4x20 thumb screw bolt x1<br>M4 nut x1<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3360-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3360-1024x707.jpg\" alt=\"\" class=\"wp-image-14640\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">The servo motor should have come with it own screws. Use then to fasten it to the gondola. It is tricky to squeeze into position before attaching with the screws, I swear it’ll go in :).<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-19 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3361-1024x768.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3361-1024x768.jpg\" alt=\"\" data-id=\"14639\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14639\" class=\"wp-image-14639\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3362-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3362-1024x768.jpg\" alt=\"\" data-id=\"14641\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3362-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14641\" class=\"wp-image-14641\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Put the thumb screw bolt through the hole, add the M4 nut, and use the thumb screw bolt to pull the M4 nut into its seating. This is a pressure fit.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-3 is-cropped wp-block-gallery-20 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3363-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3363-1024x768.jpg\" alt=\"\" data-id=\"14642\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3363-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14642\" class=\"wp-image-14642\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3364-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3364-1024x768.jpg\" alt=\"\" data-id=\"14643\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3364-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14643\" class=\"wp-image-14643\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3365-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3365-1024x768.jpg\" alt=\"\" data-id=\"14644\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3365-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14644\" class=\"wp-image-14644\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Plug the servo into the circuit using its connector, power on the circuit, hop into the web interface and down to the “Mechanics” section. Click on the “Pen Down” button. When the servo it into the “Pen Down” position, attach the servo’s arm such that it is running along it, it should not go through the gondola. Once the arm attached, hit the “Pen Up” button and make sure that the arm now pushes the gondola away from the desk. You might need to adjust the servo’s range of motion with the <strong>pen_down_pulse_width<\/strong> & <strong>pen_up_pulse_width<\/strong> settings in the Mechanics sections, but hopefully the defaults just work.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/gondola_up_and_down.gif\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/gondola_up_and_down.gif\" alt=\"\" class=\"wp-image-14645\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Make sure to <strong>power of<\/strong>f the circuit when done testing.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Weights<\/h2>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#993300\">side_weigth_x2.stl<br>gondola_weight_x1.st<br>weight_cap_x3.stl<\/p>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">lego wheels x8<br>a bunch of dead weight, old batteries,misc. hardware, et cetera.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Attach the lego wheels to the 2 side weights, and load them with some mass. Make sure they weight the same. The gondola weight can be a little heavier than the other 2. I can’t tell you exactly how many grams to add, this largely depends on the size of your deployment. Because of this, it might not be the best time to glue the weight caps on, maybe keep them open for now until you’ve installed the plotter on a wall. When you have added enough mass to them that the belts are straight in all positions, it’s safe to close them.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-3 is-cropped wp-block-gallery-21 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3372-1024x768.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3372-1024x768.jpg\" alt=\"\" data-id=\"14648\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14648\" class=\"wp-image-14648\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3375-1024x768.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3375-1024x768.jpg\" alt=\"\" data-id=\"14649\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14649\" class=\"wp-image-14649\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3376-1024x768.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3376-1024x768.jpg\" alt=\"\" data-id=\"14650\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14650\" class=\"wp-image-14650\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3378-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3378-1024x768.jpg\" alt=\"\" data-id=\"14651\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3378-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14651\" class=\"wp-image-14651\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Belts & Deployment<\/h2>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#993300\">belt_looper_x4.stl<\/p>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">2×4 piece of lumber, the length of which depends on how big you want the drawing surface to be<br>GT2 timing belt<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Fasten the logic box and motor holders to your piece of lumber, which you can attach to a wall.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3380-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3380-1024x768.jpg\" alt=\"\" class=\"wp-image-14658\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Measure precisely the distance in centimeters between the centers of both motors. This is the only thing needed to calibrate the plotter, all the math is derived from this distance. And so if you keep the machine on the same piece of lumber, you don’t need to measure this every time.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3380_copy-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3380_copy-1024x271.jpg\" alt=\"\" class=\"wp-image-14659\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Grab you GT2 belts and belt loopers. Attach the gondola’s weight and a single side weight as bellow. Think of where the belt’s “teeth” are facing. Also unless you have a precise idea of the machine’s range of motion, you might want to leave a decent amount of extra belt slack to make adjustments later. Later when you are happy with everything you can trim it.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-3 is-cropped wp-block-gallery-22 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3381-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3381-1024x548.jpg\" alt=\"\" data-id=\"14660\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3381-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/gondola-plottybot-v2\/img_3381\/\" class=\"wp-image-14660\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3383-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3383-1024x595.jpg\" alt=\"\" data-id=\"14661\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3383-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/gondola-plottybot-v2\/img_3383\/\" class=\"wp-image-14661\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3384-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3384-1024x779.jpg\" alt=\"\" data-id=\"14662\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3384-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/gondola-plottybot-v2\/img_3384\/\" class=\"wp-image-14662\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Hang the belt around one of the stepper motor’s pulley.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3385-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3385-768x1024.jpg\" alt=\"\" class=\"wp-image-14663\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Now do the remaining motor weight, hang it on the other stepper motor, and join it to the gondola. This operation requires 3 hands :).<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3387-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3387-1024x916.jpg\" alt=\"\" class=\"wp-image-14664\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Lastly, connect the servo motor:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3391-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3391-768x1024.jpg\" alt=\"\" class=\"wp-image-14665\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Congratulations, your Gondola Plotter is ready :).<\/p>\n\n\n\n<h1 class=\"wp-block-heading\">Usage<\/h1>\n\n\n\n<h2 class=\"wp-block-heading\">Plotter Code<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">The plotter instructions (Plotter Code section in the web interface) are all normalized on a (X,Y) coordinate system going from 0 to 100. It doesn’t matter how big or small your plotter it, the instructions will always be from 0 to 100 on both axes.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-09_at_10_03_30\u202fPM.png\" target=\"_blank\" rel=\"noopener\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-09_at_10_03_30\u202fPM-1008x1024.png\" alt=\"\" class=\"wp-image-14682\" width=\"756\" height=\"768\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">The main instructions you can give it are as follows:<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code class=\"\">go_to(x, y)\npen_down()\npen_up()\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">Simple eh? You can go pretty far with lots of these.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">There also exits a few special instructions:<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code class=\"\">color( #888888 )\npause()\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">The color( #hex ) instruction won’t swap the pen for you, but it will be used in the preview, and it will pause the drawing at that point and ask for the pen swap in the web interface.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">The pause() instruction will just pause the drawing for you, which you can resume in the web interface.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Calibration<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">When you deploy the plotter<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Measure the distance between the centers of your 2 stepper motors. That is the calibration distance the plotter asks for before doing anything. It’ll remember it so as long as you don’t change where the motors are, this is a one time thing.<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3391_copy-1-973x1024.jpg\" alt=\"\" class=\"wp-image-14681\"\/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Make sure that you have enough belt length to cover all the extreme points of the drawing surface. There’s some math to figuring out what that length is, but I’ve never had issue just eyeballing it and adjusting a little.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">The best way to make sure everything will work (enough belt, weights don’t do too or too high, belts don’t sag), run code for a simple square 0->100 square that will take the gondola through all extreme positions.<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code class=\"\">go_to(0,0)\npen_down()\ngo_to(0,100)\ngo_to(100,100)\ngo_to(100,0)\ngo_to(0,0)\npen_up()\ngo_to(50,50)<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">To run this, you need to power on the plotter, and thus follow the calibration for that (give it the distance, and start in the center).<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">You cannot reach the extremest of extremes. The plotter has a built in 20% margin on all sides because some gondola positions are untenable by the hardware. This is called <strong>gondola_reserve_margin<\/strong> in the mechanics section, and you can adjust it for your deployment but you probably don’t want it much lower than 20%. If you are going to be drawing on papers of various sized, it’s much easier to adjust this variable than to move the stepper motors. For example, you could adjust it and “draw” the extremes squares until it fits your paper.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3391_copy-2-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3391_copy-2-973x1024.jpg\" alt=\"\" class=\"wp-image-14683\"\/><\/a><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">When you power on the plotter<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Make sure that the gondola is positioned at the very center of the drawing surface. That’s it :).<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3391_copy-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3391_copy-973x1024.jpg\" alt=\"\" class=\"wp-image-14680\"\/><\/a><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">GCode<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">This section is simply to convert <strong>GCode<\/strong> obtained from various software into <strong>Plotter Code<\/strong> above. The parsing is fairly rudimentary and known to work with quite a few GCode producing programs. If you run across one that doesn’t work, drop a comment. <a rel=\"noreferrer noopener\" href=\"https:\/\/inkscape.org\/\" target=\"_blank\">Inkscape<\/a> is quirky and slow for turning an SVG into GCode, but it’s also reliable once you figured out how to do it.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-09_at_10_21_32\u202fPM.png\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-09_at_10_21_32\u202fPM-1007x1024.png\" alt=\"\" class=\"wp-image-14688\"\/><\/a><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Handwriting Typewriter<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Not documented at the moment, I’m not sure why anyone want to use this on a Gondola Plotter, I developed it for the Tabletop version but it should work.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Mandalagaba<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Connect to <a rel=\"noreferrer noopener\" href=\"https:\/\/www.mandalagaba.com\" target=\"_blank\">Mandalagaba<\/a> in your browser, copy the session # and paste it in this section, click connect. The plotter will now reproduce live what is drawn in the session.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-09_at_10_28_57\u202fPM.png\" target=\"_blank\" rel=\"noopener\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-09_at_10_28_57\u202fPM-1007x1024.png\" alt=\"\" class=\"wp-image-14691\" width=\"755\" height=\"768\"\/><\/a><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Web Instruction<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Similar to the Mandalagaba section, this is meant to have the plotter take more generic instructions from an online source and reproduce them live. Give it a URL with such instructions and it’ll periodically refresh it to draw new ones as they appear.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Here’s an example of a set of instructions:<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"json\" class=\"language-json\">[\n {\n \"id\": 220,\n \"pcode\": \"go_to( 68.888888888889, 97.777777777778 )\\npen_down()\\ngo_to( 67.777777777778, 90 )\\ngo_to( 70, 92.222222222222 )\\ngo_to( 71.111111111111, 90 )\\ngo_to( 72.222222222222, 97.777777777778 )\\ngo_to( 68.888888888889, 97.777777777778 )\\npen_up()\\n\"\n },\n {\n \"id\": 221,\n \"pcode\": \"go_to( 50, 73.333333333333 )\\npen_down()\\ngo_to( 47.777777777778, 71.111111111111 )\\ngo_to( 48.888888888889, 73.333333333333 )\\ngo_to( 47.222222222222, 71.111111111111 )\\npen_up()\\n\"\n },\n {\n \"id\": 222,\n \"pcode\": \"go_to( 85.555555555556, 73.333333333333 )\\npen_down()\\ngo_to( 84.444444444444, 74.444444444444 )\\npen_up()\\n\"\n },\n {\n \"id\": 223,\n \"pcode\": \"go_to( 95.555555555556, 85.555555555556 )\\npen_down()\\ngo_to( 93.333333333333, 82.222222222222 )\\ngo_to( 91.111111111111, 85.555555555556 )\\ngo_to( 93.333333333333, 87.777777777778 )\\ngo_to( 95.555555555556, 85.555555555556 )\\ngo_to( 97.777777777778, 85.555555555556 )\\npen_up()\\n\"\n },\n\n ...\n\n]<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">The Plotter keeps track of which IDs it has already drawn vs not, so you can keep appending to the array with new ids\/instructions.<\/p>\n\n\n\n<h1 class=\"wp-block-heading\">Conclusion<\/h1>\n\n\n\n<p class=\"wp-block-paragraph\">Congratulations on making it this far :), I hope you found the instructions helpful. All the machines I document like this one use the same software stack. This is why you’ll find references to lasers & etchers if you look under the hood. I’ve been working on drawing machines for 8 years now, it’s a little crazy how far this journey went. I have to say this Gondola Plotter is the one I put the most hours on, by a long shot. It’s just a fun machine. I wish you the same path of discovery, wow moments, and sharing with others. There is real creativity in finding weird algorithms on the internet and getting them to do something novel. It’s often found in the best corners of the internet, and it often requires patience to get them working. If you have cool ideas, please get in touch, but keep in mind that time is unfortunately finite. If you do something cool with the machine, please drop a picture, it makes my day. Have fun!<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Introduction This is Gondola PlottyBot v2, a vertical pen plotter you can build. It’s based on a Raspberry Pi Zero 2 W and comes loaded with software to make it easy to use. It’ll create its own wifi network to connect to, but you can also have it connect to an existing one. Then controlling it is … <\/p>\n<p class=\"link-more\"><a href=\"https:\/\/ben.akrin.com\/?page_id=13787\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> “Gondola PlottyBot v2”<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"open","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-13787","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/ben.akrin.com\/index.php?rest_route=\/wp\/v2\/pages\/13787","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/ben.akrin.com\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/ben.akrin.com\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/ben.akrin.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ben.akrin.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=13787"}],"version-history":[{"count":0,"href":"https:\/\/ben.akrin.com\/index.php?rest_route=\/wp\/v2\/pages\/13787\/revisions"}],"wp:attachment":[{"href":"https:\/\/ben.akrin.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=13787"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
Deployment size is arbitrary, you can make a small one or a really big one.<\/p>\n\n\n\n<\/a><\/figure><\/li><\/a><\/figure><\/li><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<\/iframe>\n\n\n\n<h1 class=\"wp-block-heading\">Downloads<\/h1>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/ben.akrin.com\/downloads\/gondola_plottybot_v2_parts.zip\">STL Parts for 3D Printing<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"http:\/\/ben.akrin.com\/downloads\/gondola_plottybot_2026-05-27.img\">Raspberry Pi SD card image<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/gondola_plottybot_v2_circuit.jpg\" target=\"_blank\" rel=\"noreferrer noopener\">Circuit Diagram<\/a> (optional: for reference)<\/p>\n\n\n\n<h1 class=\"wp-block-heading\">Parts to Gather<\/h1>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3154-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3154-1024x686.jpg\" alt=\"\" class=\"wp-image-14517\"\/><\/a><\/figure><\/div>\n\n\n\n<h2 class=\"has-text-color wp-block-heading\" style=\"color:#993300\">3D Printed<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">All parts available here: <a href=\"https:\/\/ben.akrin.com\/downloads\/gondola_plottybot_v2_parts.zip\">download link<\/a>.<\/p>\n\n\n\n<pre class=\"wp-block-preformatted has-text-color\" style=\"color:#993300\">weight_cap_x3.stl\nside_weight_x2.stl\ngondola_weigth_x1.stl\nbelt_looper_x4.stl\ngondola_x1.stl\nlogic_box_cover_x1.stl\nlogic_box_x1.stl\nmotor_holder_x2.stl<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">Each file name contains the amount to print at the end (x4 means print 4 of this part).<\/p>\n\n\n\n<h2 class=\"has-text-color wp-block-heading\" style=\"color:#3366ff\"><br>Acquired<\/h2>\n\n\n\n<iframe class=\"aligncenter\" style=\"width: 100%; height: 500px;\" src=\"https:\/\/docs.google.com\/spreadsheets\/d\/e\/2PACX-1vSD6yetFgq38F0eHj4gdnsRh9ZRYtyIlyyOOYPlpEnQVU-u465uDxSdWY4o5XRcBivyGF9Eb1wui4Iq\/pubhtml\"><\/iframe>\n\n\n\n<h2 class=\"wp-block-heading\">Tools to have<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>soldering iron<\/li><li>glue gun (or sugru moldable glue)<\/li><li>allen wrench set<\/li><li>small phillips screwdriver<\/li><li>needle nose pliers<\/li><li>voltmeter (preferable)<\/li><li>cordless drill (preferable)<\/li><li>xacto knife<\/li><li>wire snippers<\/li><\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<h1 class=\"wp-block-heading\">Circuit<\/h1>\n\n\n\n<p class=\"wp-block-paragraph\">Here is the circuit diagram for reference. It is not needed for the instruction point out what to connect where, it’s only useful to cross-reference information.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/gondola_plottybot_v2_circuit.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/gondola_plottybot_v2_circuit-1-1024x590.jpg\" alt=\"\" class=\"wp-image-14673\"\/><\/a><\/figure><\/div>\n\n\n\n<h1 class=\"wp-block-heading\">Build Instructions<\/h1>\n\n\n\n<h2 class=\"wp-block-heading\">Logic Box<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">This is the meat of the project.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Perma Proto Bonnet Headers<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">Perma Proto Bonnet Mini Kit x1<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">First we’ll solder the headers the Perma Proto Bonnet came with. In years of building drawing machines, the Bonnet approach seems to be the best mix for building a stable machine while keeping some flexibility in building.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">You an use tape to hold the header in place and solder a couple of pins to hold it instead of the tape.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-3 is-cropped wp-block-gallery-2 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3156-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3156-scaled.jpg\" alt=\"\" data-id=\"14518\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3156-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14518\" class=\"wp-image-14518\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3157-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3157-scaled.jpg\" alt=\"\" data-id=\"14519\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3157-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14519\" class=\"wp-image-14519\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3159-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3159-scaled.jpg\" alt=\"\" data-id=\"14521\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3159-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14521\" class=\"wp-image-14521\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3160-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3160-scaled.jpg\" alt=\"\" data-id=\"14522\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3160-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14522\" class=\"wp-image-14522\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3161-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3161-scaled.jpg\" alt=\"\" data-id=\"14523\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3161-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14523\" class=\"wp-image-14523\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">Power to the Pi<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">12V power supply x1<br>12V power connector (female) x1<br>5V voltage regulator x1<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Grab the 5V voltage regulator<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3163-1.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3163-1-1024x666.jpg\" alt=\"\" class=\"wp-image-14526\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">We will hard set it to give us 5V, to do so we cut the potentiometer out, and we solder the 5V option.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3166-1-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3166-1-768x1024.jpg\" alt=\"\" class=\"wp-image-14528\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Then we solder the female 12V power connector.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-3 is-cropped wp-block-gallery-3 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3167-1024x602.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3167-1024x602.jpg\" alt=\"\" data-id=\"14529\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14529\" class=\"wp-image-14529\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3168-1024x785.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3168-1024x785.jpg\" alt=\"\" data-id=\"14530\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14530\" class=\"wp-image-14530\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3169-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3169-1024x441.jpg\" alt=\"\" data-id=\"14531\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3169-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14531\" class=\"wp-image-14531\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Plug it into the 12V power supply, make sure you have 12V at the supply side, and 5V at the orange wire.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-4 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3170-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3170-1024x601.jpg\" alt=\"\" data-id=\"14532\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3170-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14532\" class=\"wp-image-14532\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3171-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3171-1024x563.jpg\" alt=\"\" data-id=\"14533\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3171-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14533\" class=\"wp-image-14533\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Perfect, now let’s solder it into the Perma Proto Bonnet <strong>!! make sure the power supply is unplugged first !!<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-5 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3173-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3173-1024x768.jpg\" alt=\"\" data-id=\"14535\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3173-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14535\" class=\"wp-image-14535\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3174-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3174-1024x432.jpg\" alt=\"\" data-id=\"14536\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3174-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14536\" class=\"wp-image-14536\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">First Pi Boot<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">Raspberry Pi 2 Zero W x1<br>SD Card x1<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">With the power supply still unplugged, attach the bonnet to the Pi.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3177-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3177-1024x469.jpg\" alt=\"\" class=\"wp-image-14537\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Download the <a href=\"http:\/\/ben.akrin.com\/downloads\/gondola_plottybot_2026-05-27.img\">Gondola PlottyBot Pi image<\/a>, and write it to the SD card using the <a rel=\"noreferrer noopener\" href=\"https:\/\/www.raspberrypi.com\/software\/\" target=\"_blank\">Rapsberry Pi Imager.<\/a> When you get to the “OS” section, scroll all the way to the bottom to “Use custom” and point to the img file you just downloaded.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/Screenshot_2026-05-27_at_4_05_09\u202fPM.png\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/Screenshot_2026-05-27_at_4_05_09\u202fPM-1024x721.png\" alt=\"\" class=\"wp-image-14538\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Stick the SD card in the Pi, plug in the power supply and you should see the Pi’s LED light up.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3180-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3180-1024x506.jpg\" alt=\"\" class=\"wp-image-14539\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Now this first boot will take a good 10 to 15 minutes. It’s a good idea to not get impatient a unplug it. The first time things start, a whole lot of packages are being installed on a Pi Zero which is not exactly the spiffiest machine out there :). Rest assured it’ll have more than enough horsepower to run the plotter once everything is installed. You will know it’s done installing when a new wifi network shows up.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/Screenshot_2026-05-27_at_4_12_44\u202fPM.png\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/Screenshot_2026-05-27_at_4_12_44\u202fPM.png\" alt=\"\" class=\"wp-image-14541\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Go ahead and connect to it. Once connected, point your browser to <a rel=\"noreferrer noopener\" href=\"http:\/\/plottybot.local\" target=\"_blank\">http:\/\/plottybot.local<\/a> (or <a rel=\"noreferrer noopener\" href=\"http:\/\/10.0.0.5\" target=\"_blank\">http:\/\/10.0.0.5<\/a> if this didn’t work). You should see Gondola PlottyBot’s web interface:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/gondola_plottybot_web_interface.png\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/gondola_plottybot_web_interface-1024x927.png\" alt=\"\" class=\"wp-image-14543\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Super! No need to do anything in there we just wanted to make sure it worked. Let’s unplug the power supply, we’ll keep working on our circuit.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Stepper Motor Drivers<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">stepper driver x2<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">The stepper drivers have 2 pins which aren’t useful and will get in the way of circuitry so we snip them out.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-3 is-cropped wp-block-gallery-6 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3280-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3280-1024x750.jpg\" alt=\"\" data-id=\"14546\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3280-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14546\" class=\"wp-image-14546\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3281-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3281-1024x728.jpg\" alt=\"\" data-id=\"14547\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3281-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14547\" class=\"wp-image-14547\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3282-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3282-1024x768.jpg\" alt=\"\" data-id=\"14548\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3282-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14548\" class=\"wp-image-14548\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3283-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3283-1024x768.jpg\" alt=\"\" class=\"wp-image-14549\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Do so for the both of them. Then position them on the proto bonnet, and solder their pins on the bottom side.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-1 is-cropped wp-block-gallery-7 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3194-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3194-1024x367.jpg\" alt=\"\" data-id=\"14550\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3194-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14550\" class=\"wp-image-14550\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Whenever we solder something on the bottom side, we snip out extraneous tails.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3193-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3193-1024x768.jpg\" alt=\"\" class=\"wp-image-14557\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Watch your proto bonnet, it has a 5V bus and a 3V bus. They are separated even though they follow the same line, you want to make sure you tap into the right bus when you bring voltage somewhere. The ground bus is running continuously parallel to them.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3157-1.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3157-1-1024x445.jpg\" alt=\"\" class=\"wp-image-14562\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">We bring <strong>3V<\/strong> to them to their <strong>MS1<\/strong> pin.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-8 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3284-1-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3284-1-1024x458.jpg\" alt=\"\" data-id=\"14553\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3284-1-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14553\" class=\"wp-image-14553\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3285-1-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3285-1-1024x715.jpg\" alt=\"\" data-id=\"14554\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3285-1-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14554\" class=\"wp-image-14554\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">When we solder it, on the other side we bridge the <strong>MS1<\/strong> pin with the <strong>MS2<\/strong> pin so they will both get <strong>3V<\/strong>.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3286-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3286-1024x768.jpg\" alt=\"\" class=\"wp-image-14555\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">The documentation for these stepper drivers says that pulling both <strong>MS1<\/strong> and <strong>MS2<\/strong> up activates the highest microstepping.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/stepper_driver_doc.png\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/stepper_driver_doc-1024x947.png\" alt=\"\" class=\"wp-image-14556\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">We also bring <strong>3V<\/strong> to their <strong>VIO<\/strong> pin. This is to power them.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-9 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3289-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3289-1024x768.jpg\" alt=\"\" data-id=\"14558\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3289-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14558\" class=\"wp-image-14558\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3292-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3292-1024x768.jpg\" alt=\"\" data-id=\"14560\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3292-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14560\" class=\"wp-image-14560\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">They need 2 grounds each, so we bring 4 wires from the <strong>GND<\/strong> bus to their <strong>GND<\/strong> pins.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3294-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3294-1024x768.jpg\" alt=\"\" class=\"wp-image-14561\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">We bring Pi header pins <strong>#4<\/strong> & <strong>#5<\/strong> to the stepper drivers’ <strong>DIR<\/strong> (direction) pins.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3295-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3295-1024x576.jpg\" alt=\"\" class=\"wp-image-14563\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Then we bring Pi header pins <strong>#17<\/strong> & <strong>#6<\/strong> to the stepper drivers’ <strong>STEP<\/strong> pins.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3296-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3296-1024x603.jpg\" alt=\"\" class=\"wp-image-14564\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Then we bring Pi header pins <strong>#24<\/strong> & <strong>#16<\/strong> to the stepper drivers’ <strong>EN<\/strong> (enable) pins.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3297-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3297-1024x611.jpg\" alt=\"\" class=\"wp-image-14568\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Finally we add 2 wires to our female 12v connector and solder that into each driver’s <strong>VS<\/strong> (Volt Supply?) pin. This power is for the motors. The stepper drivers need only 3v to run their logic which they get from the Pi, but the stepper motors need an independent 12v.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-10 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3299-1024x344.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3299-1024x344.jpg\" alt=\"\" data-id=\"14569\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14569\" class=\"wp-image-14569\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3301-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3301-1024x718.jpg\" alt=\"\" data-id=\"14570\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3301-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14570\" class=\"wp-image-14570\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Space is getting tighter, and we’re about to make it worse. We are close to the end though, and it won’t get much more complicated than this.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Grab the 2 cables that came with your stepper motors. Make note of which end plugs into the stepper motor and which one is meant to go to a logic board. Snip & strip the end that goes into a logic board for the both of them (the pictures bellow only show 1).<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-11 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3303-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3303-1024x768.jpg\" alt=\"\" data-id=\"14572\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3303-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14572\" class=\"wp-image-14572\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3304-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3304-1024x818.jpg\" alt=\"\" data-id=\"14573\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3304-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14573\" class=\"wp-image-14573\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">You guessed it, we solder them into our logic board. Be careful to have the right colors in the right order.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-1 is-cropped wp-block-gallery-12 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3305-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3305-1024x641.jpg\" alt=\"\" data-id=\"14574\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3305-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14574\" class=\"wp-image-14574\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">Stepper Motors<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">Stepper Motors x2<br>Pi Zero 2 W x1<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Attach the proto bonnet to the Pi Zero 2 W. This is just headers and pins fitting together.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3308-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3308-1024x768.jpg\" alt=\"\" class=\"wp-image-14578\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Plug in your stepper motors and, moment of truth, let’s power this up with the 12V power supply. We’re going to test the motors. You can add a piece of tape on the motor shafts to make it more visible when they move.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3311-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3311-1024x680.jpg\" alt=\"\" class=\"wp-image-14577\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Once the “PlottyBot” wifi shows up, connect to it and point your browser to <a rel=\"noreferrer noopener\" href=\"http:\/\/plottybot.local\" target=\"_blank\">http:\/\/plottybot.local<\/a> (or <a rel=\"noreferrer noopener\" href=\"http:\/\/10.0.0.5\" target=\"_blank\">http:\/\/10.0.0.5<\/a> if this didn’t work). Scroll all the way down to the “Mechanics” section, and test each stepper in each direction, it should take 3200 steps to do a full 360\u00b0 turn.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-07_at_9_16_42\u202fAM.png\" target=\"_blank\" rel=\"noopener\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-07_at_9_16_42\u202fAM.png\" alt=\"\" class=\"wp-image-14609\" width=\"625\" height=\"565\"\/><\/a><\/figure><\/div>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/moving_steppers.gif\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/moving_steppers.gif\" alt=\"\" class=\"wp-image-14576\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">If your stepper motors are moving as expected, congratulations, you’ve done the hardest part! You can now create any machine that moves in 2 dimensions. If they don’t move as expected, check the next step <strong>1.7 Setting the stepper driver’s Vref<\/strong>. If that doesn’t fix it, issues are very much case by case but in general: check each wire’s contact, check connection mapping, try to swap the motors.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Setting the stepper driver’s Vref<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">To run optimally, the stepper motor drivers need to be tuned to the motor they’re driving. The drivers have a tiny potentiometer that can be adjusted to do just that.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3301-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3301-1024x490.jpg\" alt=\"\" class=\"wp-image-14600\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">There’s a lot of information out there for setting Vref for your stepper drivers\/motors, and I’m honestly a little confused about most of it, but our motors are rated for 1.5A, and this <a rel=\"noreferrer noopener\" href=\"https:\/\/printpractical.github.io\/VrefCalculator\/\" target=\"_blank\">Vref calculator<\/a> gives us a Vref of <strong>1.2<\/strong> for our driver. More importantly, I’ve got hundreds of hours of these drivers\/motors running perfectly with this value.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Using you voltmeter in DC volt sensing, you want the ground probe on a ground somewhere in the circuit. I used the negative side of our power connector:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3274.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3274.jpg\" alt=\"\" class=\"wp-image-14602\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">The positive probe of your voltmeter is then applied to the potentiometer of each stepper driver. Read the value and adjust the potentiometer with a small screwdriver until it reads <strong>1.2V<\/strong>.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">One trick you can do is to connect the positive probe of your voltmeter to the small screwdriver as such:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3332-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3332-1024x768.jpg\" alt=\"\" class=\"wp-image-14603\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">This way you can adjust the potentiometers and read the values at the same time. I unfortunately did not take a picture of the operation as it required both hands :). One holding the negative probe on a ground, and the other adjusting the potentiometer with the positive probe\/screwdriver. More info and pictured can be <a rel=\"noreferrer noopener\" href=\"https:\/\/all3dp.com\/2\/vref-calculator-tmc2209-tmc2208-a4988\/\" target=\"_blank\">found here<\/a> if you need more visuals.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">When you are done testing stepper motors & adjusting Vref, <strong>make sure to unplug power before moving on<\/strong> to the next steps. You can also unplug the stepper motors.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Servo Motor<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">Servo Motor<br>30AWG flexible wiring<br>3 pin male Dupont connector<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Give yourself a good length of 3 different colors or 30AWG flexible wiring. This is the wire that will travel from the logic box to the gondola.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3390-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3390-995x1024.jpg\" alt=\"\" class=\"wp-image-14579\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">It needs to be long enough to reach the bottom corners of your intended drawing area. To be future proof, it’s a good idea to make it significantly longer, and just bundle the extra in case you need it later. I’ve loosely braided the wires so they stay together. At one end, attach a 3 pin male Dupont connector. This will help us swap out Servo motors easily. If you bought the expensive A20CLS, they’ll go a long time before they die. If you are using cheaper servos like the SG90, they will die fast. On a long plot it’s a real pain and will waste time, fancy servos are worth every penny. MG90S will do pretty well but also die eventually.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3314-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/05\/IMG_3314-1024x591.jpg\" alt=\"\" class=\"wp-image-14580\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">The servo motor has a ground, power, and a signal wire. We solder the ground and wire into the 5V bus, which we extend by bridging it to nearby pins from the bus.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3317-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3317-1024x768.jpg\" alt=\"\" class=\"wp-image-14606\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">As with testing the stepper motors: power on the circuit, and hop on <a rel=\"noreferrer noopener\" href=\"http:\/\/plottybot.local\" target=\"_blank\">http:\/\/plottybot.local<\/a> (or <a rel=\"noreferrer noopener\" href=\"http:\/\/10.0.0.5\" target=\"_blank\">http:\/\/10.0.0.5<\/a>) in the browser. The servo action can be tested with the “Pen Up” and “Pen Down” buttons.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-07_at_9_13_26\u202fAM.png\" target=\"_blank\" rel=\"noopener\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-07_at_9_13_26\u202fAM.png\" alt=\"\" class=\"wp-image-14608\" width=\"625\" height=\"567\"\/><\/a><\/figure><\/div>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/servo_test.gif\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/servo_test.gif\" alt=\"\" class=\"wp-image-14610\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">We just added “tip action” to our 2D motion :). Make sure to <strong>power off the circuit<\/strong> before proceeding further.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Fan<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">12V fan x1<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Grab the 12V fan, snip the connector, strip the wire, and twist the ends.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-3 is-cropped wp-block-gallery-13 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3322-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3322-1024x711.jpg\" alt=\"\" data-id=\"14617\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3322-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14617\" class=\"wp-image-14617\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3323-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3323-1024x665.jpg\" alt=\"\" data-id=\"14618\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3323-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14618\" class=\"wp-image-14618\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3324-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3324-1024x768.jpg\" alt=\"\" data-id=\"14619\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3324-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14619\" class=\"wp-image-14619\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Add it to the now busy 12V power connector.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3326-copy.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3326-copy-1024x472.jpg\" alt=\"\" class=\"wp-image-14621\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Anytime you power your circuit now, the fan will come on to help cool it.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/12v_fan.gif\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/12v_fan.gif\" alt=\"\" class=\"wp-image-14623\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">It’s worth noting I have never found a nice quiet 12V fan in 30mm format. The one I have listed in the parts list isn’t great but it works. I found it noisy in my room and so I added another voltage regulator to it to make it run slower. If you have a recommendation for a nice fan in this format, please let me know. I think a a bit picky on fan noise, you might not object to hearing it, and you might not hear it at all depending on where you deploy your plotter.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">Building the Logic Box<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#993300\">logix_box_x1.stl<br>logic_box_cover_x1.stl<\/p>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">Cable Glands PG9 x2<br>Cable Gland PG7 x1<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Attach the glands to the logic box in the holes in which they fit.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-14 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3319-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3319-768x1024.jpg\" alt=\"\" data-id=\"14614\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3319-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14614\" class=\"wp-image-14614\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3321-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3321-768x1024.jpg\" alt=\"\" data-id=\"14613\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3321-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14613\" class=\"wp-image-14613\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Run the wires for the stepper motors and for the servo motors through their respective glands. It helps to tied them up nicely after to help keep thing tidier.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3326-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3326-1024x768.jpg\" alt=\"\" class=\"wp-image-14622\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Taking your time and being very careful not to exert solders and connections too hard, install the various components of the circuit into the logic box.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3327-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3327-1024x768.jpg\" alt=\"\" class=\"wp-image-14624\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Apply little dabs of glue to keep things in place. There is no need to use too much glue, things should be pretty tight already, we just want to tack a corner or 2 in place. The only component I was generous with is the 12V power connector which will take pressure as we plug and unplug into it.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3329-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3329-1024x768.jpg\" alt=\"\" class=\"wp-image-14625\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">You can use zip ties to help manage wires.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-15 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3330-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3330-1024x768.jpg\" alt=\"\" data-id=\"14626\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3330-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14626\" class=\"wp-image-14626\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3331-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3331-1024x768.jpg\" alt=\"\" data-id=\"14627\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3331-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14627\" class=\"wp-image-14627\"\/><\/a><\/figure><\/li><\/ul><figcaption class=\"blocks-gallery-caption\">Add the stepper drivers’ heatsinks.<\/figcaption><\/figure>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3334-1024x768.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3334-1024x768.jpg\" alt=\"\" class=\"wp-image-14628\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Lastly, you can tack glue the logic box cover at the 4 corners.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-16 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3368-1024x774.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3368-1024x774.jpg\" alt=\"\" data-id=\"14646\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14646\" class=\"wp-image-14646\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3370-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3370-1024x921.jpg\" alt=\"\" data-id=\"14647\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3370-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14647\" class=\"wp-image-14647\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Stepper Motor Holders<\/h2>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#993300\">motor_holder_x2.stl<\/p>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">Stepper Motors x2<br>GT2 Timing Belt Pulley (20 teeth) x2<br>M3x8 hex socket screws x8<br>washers x8<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Attack the GT2 pulleys to the stepper motors shafts. Note the flat side of the shafts, make sure that one of the pulley’s tightening screws is lined up with it. Also note the orientation and top most position of the pulleys on the shafts.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-17 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3335-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3335-1024x768.jpg\" alt=\"\" data-id=\"14631\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3335-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14631\" class=\"wp-image-14631\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3337-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3337-1024x904.jpg\" alt=\"\" data-id=\"14634\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3337-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14634\" class=\"wp-image-14634\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3336-1-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3336-1-768x1024.jpg\" alt=\"\" data-id=\"14633\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3336-1-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14633\" class=\"wp-image-14633\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3338-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3338-1024x768.jpg\" alt=\"\" data-id=\"14635\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3338-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14635\" class=\"wp-image-14635\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Faster the motors on the motor holders. Note the orientation of the stepper motors’ connectors. They should be mirrored as each will be on either side of the logic box.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-18 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3340-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3340-1024x648.jpg\" alt=\"\" data-id=\"14636\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3340-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14636\" class=\"wp-image-14636\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3342-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3342-1024x768.jpg\" alt=\"\" data-id=\"14637\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3342-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14637\" class=\"wp-image-14637\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Gondola<\/h2>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#993300\">gondola_x1.stl<\/p>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">servo motor x1<br>M4x20 thumb screw bolt x1<br>M4 nut x1<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3360-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3360-1024x707.jpg\" alt=\"\" class=\"wp-image-14640\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">The servo motor should have come with it own screws. Use then to fasten it to the gondola. It is tricky to squeeze into position before attaching with the screws, I swear it’ll go in :).<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-2 is-cropped wp-block-gallery-19 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3361-1024x768.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3361-1024x768.jpg\" alt=\"\" data-id=\"14639\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14639\" class=\"wp-image-14639\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3362-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3362-1024x768.jpg\" alt=\"\" data-id=\"14641\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3362-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14641\" class=\"wp-image-14641\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Put the thumb screw bolt through the hole, add the M4 nut, and use the thumb screw bolt to pull the M4 nut into its seating. This is a pressure fit.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-3 is-cropped wp-block-gallery-20 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3363-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3363-1024x768.jpg\" alt=\"\" data-id=\"14642\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3363-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14642\" class=\"wp-image-14642\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3364-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3364-1024x768.jpg\" alt=\"\" data-id=\"14643\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3364-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14643\" class=\"wp-image-14643\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3365-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3365-1024x768.jpg\" alt=\"\" data-id=\"14644\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3365-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14644\" class=\"wp-image-14644\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Plug the servo into the circuit using its connector, power on the circuit, hop into the web interface and down to the “Mechanics” section. Click on the “Pen Down” button. When the servo it into the “Pen Down” position, attach the servo’s arm such that it is running along it, it should not go through the gondola. Once the arm attached, hit the “Pen Up” button and make sure that the arm now pushes the gondola away from the desk. You might need to adjust the servo’s range of motion with the <strong>pen_down_pulse_width<\/strong> & <strong>pen_up_pulse_width<\/strong> settings in the Mechanics sections, but hopefully the defaults just work.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/gondola_up_and_down.gif\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/gondola_up_and_down.gif\" alt=\"\" class=\"wp-image-14645\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Make sure to <strong>power of<\/strong>f the circuit when done testing.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Weights<\/h2>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#993300\">side_weigth_x2.stl<br>gondola_weight_x1.st<br>weight_cap_x3.stl<\/p>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">lego wheels x8<br>a bunch of dead weight, old batteries,misc. hardware, et cetera.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Attach the lego wheels to the 2 side weights, and load them with some mass. Make sure they weight the same. The gondola weight can be a little heavier than the other 2. I can’t tell you exactly how many grams to add, this largely depends on the size of your deployment. Because of this, it might not be the best time to glue the weight caps on, maybe keep them open for now until you’ve installed the plotter on a wall. When you have added enough mass to them that the belts are straight in all positions, it’s safe to close them.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-3 is-cropped wp-block-gallery-21 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3372-1024x768.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3372-1024x768.jpg\" alt=\"\" data-id=\"14648\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14648\" class=\"wp-image-14648\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3375-1024x768.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3375-1024x768.jpg\" alt=\"\" data-id=\"14649\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14649\" class=\"wp-image-14649\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3376-1024x768.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3376-1024x768.jpg\" alt=\"\" data-id=\"14650\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14650\" class=\"wp-image-14650\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3378-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3378-1024x768.jpg\" alt=\"\" data-id=\"14651\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3378-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/?attachment_id=14651\" class=\"wp-image-14651\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Belts & Deployment<\/h2>\n\n\n\n<h4 class=\"wp-block-heading\">Parts<\/h4>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#993300\">belt_looper_x4.stl<\/p>\n\n\n\n<p class=\"has-text-color wp-block-paragraph\" style=\"color:#3366ff\">2×4 piece of lumber, the length of which depends on how big you want the drawing surface to be<br>GT2 timing belt<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Fasten the logic box and motor holders to your piece of lumber, which you can attach to a wall.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3380-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3380-1024x768.jpg\" alt=\"\" class=\"wp-image-14658\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Measure precisely the distance in centimeters between the centers of both motors. This is the only thing needed to calibrate the plotter, all the math is derived from this distance. And so if you keep the machine on the same piece of lumber, you don’t need to measure this every time.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3380_copy-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3380_copy-1024x271.jpg\" alt=\"\" class=\"wp-image-14659\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Grab you GT2 belts and belt loopers. Attach the gondola’s weight and a single side weight as bellow. Think of where the belt’s “teeth” are facing. Also unless you have a precise idea of the machine’s range of motion, you might want to leave a decent amount of extra belt slack to make adjustments later. Later when you are happy with everything you can trim it.<\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter columns-3 is-cropped wp-block-gallery-22 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3381-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3381-1024x548.jpg\" alt=\"\" data-id=\"14660\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3381-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/gondola-plottybot-v2\/img_3381\/\" class=\"wp-image-14660\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3383-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3383-1024x595.jpg\" alt=\"\" data-id=\"14661\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3383-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/gondola-plottybot-v2\/img_3383\/\" class=\"wp-image-14661\"\/><\/a><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3384-scaled.jpg\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3384-1024x779.jpg\" alt=\"\" data-id=\"14662\" data-full-url=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3384-scaled.jpg\" data-link=\"https:\/\/ben.akrin.com\/gondola-plottybot-v2\/img_3384\/\" class=\"wp-image-14662\"\/><\/a><\/figure><\/li><\/ul><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Hang the belt around one of the stepper motor’s pulley.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3385-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3385-768x1024.jpg\" alt=\"\" class=\"wp-image-14663\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Now do the remaining motor weight, hang it on the other stepper motor, and join it to the gondola. This operation requires 3 hands :).<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3387-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3387-1024x916.jpg\" alt=\"\" class=\"wp-image-14664\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Lastly, connect the servo motor:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3391-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3391-768x1024.jpg\" alt=\"\" class=\"wp-image-14665\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Congratulations, your Gondola Plotter is ready :).<\/p>\n\n\n\n<h1 class=\"wp-block-heading\">Usage<\/h1>\n\n\n\n<h2 class=\"wp-block-heading\">Plotter Code<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">The plotter instructions (Plotter Code section in the web interface) are all normalized on a (X,Y) coordinate system going from 0 to 100. It doesn’t matter how big or small your plotter it, the instructions will always be from 0 to 100 on both axes.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-09_at_10_03_30\u202fPM.png\" target=\"_blank\" rel=\"noopener\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-09_at_10_03_30\u202fPM-1008x1024.png\" alt=\"\" class=\"wp-image-14682\" width=\"756\" height=\"768\"\/><\/a><\/figure><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">The main instructions you can give it are as follows:<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code class=\"\">go_to(x, y)\npen_down()\npen_up()\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">Simple eh? You can go pretty far with lots of these.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">There also exits a few special instructions:<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code class=\"\">color( #888888 )\npause()\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">The color( #hex ) instruction won’t swap the pen for you, but it will be used in the preview, and it will pause the drawing at that point and ask for the pen swap in the web interface.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">The pause() instruction will just pause the drawing for you, which you can resume in the web interface.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Calibration<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">When you deploy the plotter<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Measure the distance between the centers of your 2 stepper motors. That is the calibration distance the plotter asks for before doing anything. It’ll remember it so as long as you don’t change where the motors are, this is a one time thing.<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3391_copy-1-973x1024.jpg\" alt=\"\" class=\"wp-image-14681\"\/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Make sure that you have enough belt length to cover all the extreme points of the drawing surface. There’s some math to figuring out what that length is, but I’ve never had issue just eyeballing it and adjusting a little.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">The best way to make sure everything will work (enough belt, weights don’t do too or too high, belts don’t sag), run code for a simple square 0->100 square that will take the gondola through all extreme positions.<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code class=\"\">go_to(0,0)\npen_down()\ngo_to(0,100)\ngo_to(100,100)\ngo_to(100,0)\ngo_to(0,0)\npen_up()\ngo_to(50,50)<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">To run this, you need to power on the plotter, and thus follow the calibration for that (give it the distance, and start in the center).<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">You cannot reach the extremest of extremes. The plotter has a built in 20% margin on all sides because some gondola positions are untenable by the hardware. This is called <strong>gondola_reserve_margin<\/strong> in the mechanics section, and you can adjust it for your deployment but you probably don’t want it much lower than 20%. If you are going to be drawing on papers of various sized, it’s much easier to adjust this variable than to move the stepper motors. For example, you could adjust it and “draw” the extremes squares until it fits your paper.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3391_copy-2-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3391_copy-2-973x1024.jpg\" alt=\"\" class=\"wp-image-14683\"\/><\/a><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">When you power on the plotter<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">Make sure that the gondola is positioned at the very center of the drawing surface. That’s it :).<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3391_copy-scaled.jpg\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/IMG_3391_copy-973x1024.jpg\" alt=\"\" class=\"wp-image-14680\"\/><\/a><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">GCode<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">This section is simply to convert <strong>GCode<\/strong> obtained from various software into <strong>Plotter Code<\/strong> above. The parsing is fairly rudimentary and known to work with quite a few GCode producing programs. If you run across one that doesn’t work, drop a comment. <a rel=\"noreferrer noopener\" href=\"https:\/\/inkscape.org\/\" target=\"_blank\">Inkscape<\/a> is quirky and slow for turning an SVG into GCode, but it’s also reliable once you figured out how to do it.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-09_at_10_21_32\u202fPM.png\" target=\"_blank\" rel=\"noopener\"><img decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-09_at_10_21_32\u202fPM-1007x1024.png\" alt=\"\" class=\"wp-image-14688\"\/><\/a><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Handwriting Typewriter<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Not documented at the moment, I’m not sure why anyone want to use this on a Gondola Plotter, I developed it for the Tabletop version but it should work.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Mandalagaba<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Connect to <a rel=\"noreferrer noopener\" href=\"https:\/\/www.mandalagaba.com\" target=\"_blank\">Mandalagaba<\/a> in your browser, copy the session # and paste it in this section, click connect. The plotter will now reproduce live what is drawn in the session.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><a href=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-09_at_10_28_57\u202fPM.png\" target=\"_blank\" rel=\"noopener\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/ben.akrin.com\/wp-content\/uploads\/2026\/06\/Screenshot_2026-06-09_at_10_28_57\u202fPM-1007x1024.png\" alt=\"\" class=\"wp-image-14691\" width=\"755\" height=\"768\"\/><\/a><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Web Instruction<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Similar to the Mandalagaba section, this is meant to have the plotter take more generic instructions from an online source and reproduce them live. Give it a URL with such instructions and it’ll periodically refresh it to draw new ones as they appear.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Here’s an example of a set of instructions:<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"json\" class=\"language-json\">[\n {\n \"id\": 220,\n \"pcode\": \"go_to( 68.888888888889, 97.777777777778 )\\npen_down()\\ngo_to( 67.777777777778, 90 )\\ngo_to( 70, 92.222222222222 )\\ngo_to( 71.111111111111, 90 )\\ngo_to( 72.222222222222, 97.777777777778 )\\ngo_to( 68.888888888889, 97.777777777778 )\\npen_up()\\n\"\n },\n {\n \"id\": 221,\n \"pcode\": \"go_to( 50, 73.333333333333 )\\npen_down()\\ngo_to( 47.777777777778, 71.111111111111 )\\ngo_to( 48.888888888889, 73.333333333333 )\\ngo_to( 47.222222222222, 71.111111111111 )\\npen_up()\\n\"\n },\n {\n \"id\": 222,\n \"pcode\": \"go_to( 85.555555555556, 73.333333333333 )\\npen_down()\\ngo_to( 84.444444444444, 74.444444444444 )\\npen_up()\\n\"\n },\n {\n \"id\": 223,\n \"pcode\": \"go_to( 95.555555555556, 85.555555555556 )\\npen_down()\\ngo_to( 93.333333333333, 82.222222222222 )\\ngo_to( 91.111111111111, 85.555555555556 )\\ngo_to( 93.333333333333, 87.777777777778 )\\ngo_to( 95.555555555556, 85.555555555556 )\\ngo_to( 97.777777777778, 85.555555555556 )\\npen_up()\\n\"\n },\n\n ...\n\n]<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">The Plotter keeps track of which IDs it has already drawn vs not, so you can keep appending to the array with new ids\/instructions.<\/p>\n\n\n\n<h1 class=\"wp-block-heading\">Conclusion<\/h1>\n\n\n\n<p class=\"wp-block-paragraph\">Congratulations on making it this far :), I hope you found the instructions helpful. All the machines I document like this one use the same software stack. This is why you’ll find references to lasers & etchers if you look under the hood. I’ve been working on drawing machines for 8 years now, it’s a little crazy how far this journey went. I have to say this Gondola Plotter is the one I put the most hours on, by a long shot. It’s just a fun machine. I wish you the same path of discovery, wow moments, and sharing with others. There is real creativity in finding weird algorithms on the internet and getting them to do something novel. It’s often found in the best corners of the internet, and it often requires patience to get them working. If you have cool ideas, please get in touch, but keep in mind that time is unfortunately finite. If you do something cool with the machine, please drop a picture, it makes my day. Have fun!<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Introduction This is Gondola PlottyBot v2, a vertical pen plotter you can build. It’s based on a Raspberry Pi Zero 2 W and comes loaded with software to make it easy to use. It’ll create its own wifi network to connect to, but you can also have it connect to an existing one. Then controlling it is … <\/p>\n<p class=\"link-more\"><a href=\"https:\/\/ben.akrin.com\/?page_id=13787\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> “Gondola PlottyBot v2”<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"open","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-13787","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/ben.akrin.com\/index.php?rest_route=\/wp\/v2\/pages\/13787","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/ben.akrin.com\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/ben.akrin.com\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/ben.akrin.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ben.akrin.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=13787"}],"version-history":[{"count":0,"href":"https:\/\/ben.akrin.com\/index.php?rest_route=\/wp\/v2\/pages\/13787\/revisions"}],"wp:attachment":[{"href":"https:\/\/ben.akrin.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=13787"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
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