Jasin Jesin
Current focus: RL + sim-to-real Now: Placement · MindSpire Labs Location: UK Status: Open to PhD 2028
PRJ-05 / MOTION SYSTEM In progress

CoreXY Pen Plotter

Fast CoreXY drawing machine with NEMA 17 motors, TMC2209 drivers and an ESP32 on a custom PCB, now migrating to FluidNC.

NEMA 17 PEN CARRIAGE COREXY BELTS PLAN VIEW · ESP32 + TMC2209

What it is

A fast CoreXY drawing machine with NEMA 17 motors and TMC2209 drivers, controlled by an ESP32 on a custom PCB. I’m migrating its firmware to FluidNC.

What I built

  • CoreXY mechanics driven by NEMA 17 stepper motors.
  • A custom controller PCB with an ESP32 and TMC2209 stepper drivers.

Engineering lesson: the rev 1 power-routing fault

Revision 1 of the controller PCB came back with a fault in its power routing. I found the fault during bring-up and fixed the board with a bodge wire, so rev 1 still runs.

The lesson I took from it: review every power net against the schematic before ordering, and bring up a new board one power rail at a time.