Awesome Plotters 
A curated list of code and resources for computer-controlled drawing machines and other visual art robots.
Plotters
GitHub repository ↗ synced 2026/8/9
Awesome Plotters
Getting Started
What is a pen plotter 2022?
Nice video introduction to modern plotters in 2022.
An Intro to Pen Plotters
Good info on getting started with old HPGL plotters.
An Introduction to Pen Plotting
Another getting started article with modern pen plotters.
Pen Plotter Programming: The Basics
Some basics of programming vector paths, including sorting, joining, and simplifying.
Pen Plotter Art & Algorithms
A two-part intro to creating generative graphics for plotting.
How to Draw Generative Art with an Axidraw Pen Plotter
Lots of nice tips, not all specific to the Axidraw, plus some pen reviews and handy 3d-printed tools.
A short selection of resources to help you get started with pen plotters.
Hardware
Plotters
AxiDraw
Pen plotter from Evil Mad Scientist.
NextDraw
The new AxiDraw, now from Bantam Tools.
ArtFrame
Beefy flatbed pen plotters from Bantam Tools.
Line-us
A cute little kickstarted robotic drawing arm.
Drawing Robot
3d-Printable AxiDraw clone w/ Arduino CNC Shield controller running grbl firmware.
4xiDraw
Yet another 3d-printable AxiDraw clone w/ Arduino CNC Shield controller running grbl firmware.
WaterColorBot
XY art robot and software to plot with watercolor paints.
EggBot
Pen plotter for egg-shaped and spherical objects.
HP Pen Plotters
Vintage desktop and floor-standing pen plotters from the creator of the HPGL standard. Model 7475A is very common and can usually be found on eBay.
Roland Pen Plotters
Vintage flatbed HPGL pen plotters. Search eBay for "roland dxy".
Blot
An open-source DIY pen plotter from Hack Club with a browser-based editor for generative art.
BrachioGraph
A cheap and simple plotter made from sticks, servos, and a Raspberry Pi running Python. Here's [video of a BrachioGraph talk at PyCon UK](https://www.youtube.com/watch?v=u4Jh1daCl60) from the creator.
Arduino CNC Drawing Machine
A fairly simple 3d-printed AxiDraw-style plotter with good video documentation.
PlotterXY
A coreXY plotter made from extrusion, 3d-printed parts, and an inexpensive 3d-printer control board.
NextDraw
The [Bantam Tools](https://www.bantamtools.com) successor to the popular AxiDraw pen plotter.
openBrushograph
Open source 3d-printable XY gantry and Z-stage designed for automated brush and pen painting.
Lego-Pen-Plotter
Pen plotter built entirely of LEGO and programmed with PyBricks and Python.
Makelangelo 5
Polargraph robot that draws on a wall, window, or easel.
Apple-410
Apple 410 Color Plotter documentation, drivers, and ROM dumps.
Pen plotters available to build or purchase, historical information, and restoration projects.
Motor Controllers
grblShield
All the stepper motor control hardware needed to turn an [Arduino](https://www.arduino.cc) into a G-code-based motion controller using the grbl firmware. ([adafruit](https://www.adafruit.com/product/1750))
TinyG
More featureful and robust 6-axis G-code-based motion control hardware. ([adafruit](https://www.adafruit.com/product/1749))
Arduino CNC Shield
Grbl-compatible stepper motor control shield for Arduino, similar to the grblShield.
Raspberry Pi CNC Hat
Raspberry Pi add-on board w/ stepper controllers and a microcontroller running grbl. Interfaces with the Pi's serial pins.
EBB Driver Board
USB-based dual stepper motor controller board, originally designed for the EggBot.
Hardware for driving stepper motors and controlling pen plotters.
Accessories and Adapters
WiFi232
Wifi to RS-232 serial via a DB25 plug. Control your serial plotter wirelessly.
Plotter Cable Pinout
Schematic for a plotter cable that will work for most HP and Roland plotters. Search eBay or Amazon for `DB9 to DB25 Serial Null Modem Cable` or similar to find them for sale.
PlotAdapter
"Serial-GPIB converter for HP Plotters", uses an Arduino microcontroller to convert serial HPGL to the GPIB/HP-IB expected by some older HP plotters.
Replacement Pen Carousel Turret Carriage Holder for HP 7475A Plotter
3d printed replacement part.
Replacement Geneva Drive Wheel Gear for HP 7475A Plotter Pen Carousel
3d printed replacement for a commonly-busted part.
Cables, serial adapters, and replacement parts.
Pens
Sharpie Fine Point Plotter Adapter
3d-printed adapter to fit a standard Sharpie in an HP-GL plotter.
Parametric 3d-Printable Plotter Pen Adapter
Adjustable model to print adapters for various pens.
Plotter Pen STL Models
Accurate STL models of both short and long standard plotter pens.
Pens for AxiDraw
List of pens suitable for general plotter abuse.
Pens for EggBot
Egg- and glass-focused pen recommendations but still generally applicable information.
JetPens - The Best White Ink Pens
A comprehensive review of many white ink pens, with pictures of their coverage characteristics.
Pen adapters, mounts, and recommendations.
Software
HPGL
Chiplotle
Python library for generating HPGL and interfacing with serial plotters.
Chiplotle3
Chiplotle fork updated for Python 3.x compatibility.
HPGL Reference Guide
HTML-based HPGL Reference.
HP 7475A Interfacing and Programming Manual
Scanned PDF manual that contains a full HPGL reference.
djipco/hpgl
A Node.js library to communicate with HPGL-compatible plotters and printers.
hp2xx
GNU tool to convert HPGL into other vector and raster formats. Can also be used as a previewing in X11.
vec
Example C code for generating HPGL, with a turtle graphics interface.
d3-hpgl
An adapter for the HTML Canvas API so you can output HPGL using the popular [D3](https://d3js.org) library.
HPGL Viewer
An HPGL Viewer using JavaScript and HTML5 canvas.
HPGL Sender
A web interface for previewing HPGL and sending it to your plotter.
HPGLGraphics
A Processing library for writing HPGL files.
processing2hpgl
A Processing library that allows for direct communication with HPGL pen plotters from within a Processing sketch.
HPGL is a text-based protocol used by most old pen plotters and many new vinyl cutters.
G-code
grbl
A high-performance G-code interpreting firmware for the Atmega 328 microcontroller and Arduino.
cncjs
A web-based interface controlling CNC machines running grbl, TinyG, or other G-code-based firmware.
node-gcode
Node.js G-code interpreter and simulator.
svg2gcode
Node.js command line utility for converting SVG to G-code.
svg2gcode
Python utility for fast SVG to G-code conversion.
jscut
A web-based utility for converting SVG to G-code.
Universal-G-Code-Sender
Java-based grbl-compatible cross-platform G-code sender.
ChiliPeppr Hardware Fiddle
Modular web-based workspaces to visualize G-code and control hardware.
gcode-generative-for-processing
Processing library, aiming to create gcode from simple shapes. (Designed for usage with the Creality CR10)
gcodeplot
Python utility to convert SVG and HPGL to G-code for a 3-axis CNC machine.
fabnodes
Blender add-on to export geometry node toolpaths as G-code.
G-code is a text-based standard for controlling CNC machines. Though it was designed for industrial machines, its use in many hobbyist 3d printer firmwares has made it ubiquitous in small-scale DIY projects as well.
Plotter Control
axidraw
Official AxiDraw extensions for Inkscape.
axi
Unofficial Python library for the AxiDraw v3.
bCNC
Cross-platform G-code sender and CNC control software for grbl.
xy
Utilities for the Makeblock XY Plotter Robot Kit.
LaserGRBL
Laser-optimized Windows GUI for grbl controllers. Could be repurposed for DIY pen plotters that use a solenoid for pen up/down movements.
Line-us Inkscape Plugin
Sends drawings to the Line-us plotter directly from Inkscape.
Line-us API Examples
Example code for the Line-us plotter's G-code-based API.
@beardicus/line-us
JavaScript library for controlling the Line-us machine from Node or the browser.
PenPlotter
Polargraph controller that uses repetier firmware.
Makelangelo-firmware
Firmware for the Makelangelo polargraph robot.
RoboPaint
Software for the WaterColorBot.
AxiTurtle
Turtle graphics for AxiDraw in Processing.
GRBL-Plotter
Plotter-optimized Windows GUI for grbl controller with SVG and DXF import, and flexible pen up/down control.
saxi
Driver and library for the AxiDraw. Uses constant-acceleration motion planning and automatically resizes to paper.
MP2300-Tools
Software for converting HPGL to Graphtec's GPGL format, as well as CAD files for a Graphtec plotter pen adapter.
Inkcut
Application for controlling 2D plotters, cutters, engravers, and CNC machines.
plottie
Command-line tool for controlling Silhouette plotters and cutters with SVG input.
py_silhouette
Python library for controlling Silhouette plotters and cutters.
pypenwriter
Python script to convert and send SVG drawings to the Panasonic PenWriter family of typewriter plotters.
Software for controlling plotter hardware.
Vector Creation
Inkscape
Popular cross-platform open source vector graphics editor.
p5.js
"JavaScript library that makes coding accessible for artists, designers, educators, and beginners".
Paper.js
"The Swiss Army Knife of Vector Graphics Scripting".
ln
Vector-based 3D renderer written in Go.
autotrace
Converts bitmap images to vector graphics.
stipplegen
Creates interesting stippled drawings from bitmap images. ([blog post](https://www.evilmadscientist.com/2012/stipplegen2))
SquiggleDraw
"SquiggleDraw will create a SVG file from an image, using the brightness to change the amplitude of sine waves".
svgurt
Web-based PNG to SVG creative noodler.
maptrace
Produce watertight polygonal vector maps by tracing raster images.
Drawbot_image_to_gcode_v2
Creates G-code for use on drawbots.
blackstripes
Turns a PNG image into a SVG line drawing.
penplot
A development environment for plotter art in JavaScript.
penkit
A Python library for creating line-based SVG graphics.
generativeExamples
Example Processing code that generates plottable PDFs.
Let's make map
Web-based tool to export an SVG map from Mapzen tiles.
LineDream
A generative art library for Python that can export SVGs.
SuperformulaSVG for web
A generative line art web app.
scribbleplot
Scribbly image transformations in Processing.
Maker.js
Library for creating 2D vector drawings for CNC and laser cutter machines.
Turtletoy
Browser-based JavaScript turtle graphics API with SVG export.
cozyvec
Web/Standalone terminal environment for plotter art and tweet plots.
makio135/plotter
An [Observable](https://observablehq.com/) notebook collection full of plotter-oriented work.
PlotterFun
Browser-based Image to SVG converter similar to SquiggleDraw.
SVG.js
Dependency-free lightweight library for creating, manipulating, and animating SVG.
Components AI
Experimental computational design platform for exploring generative space.
DrawingBotV3
Cross-platform software for converting images to line drawings.
linedraw
Python tool to convert images to sketchy vector line drawings.
plotter.vision
Interactive website for hidden line removal of STL files to generate plottable SVG. Also supports Red/Blue 3D glasses.
plotting-maps
A simple web tool to create OpenStreetMap SVG maps for plotting.
ThreadPlotter
"A toolkit for the design and fabrication of delicate punch needle embroidery using X-Y plotters".
PINTR
Plottable random line drawings from your images.
REVDANCATT Plotter Tools
A bunch of web-based pen plotter tools with SVG output.
Flow Lines
A tool for generating flow line representations using SVG paths / polylines.
UJI
A web-based generative art thing with SVG export.
Rad Lines
A web-based radial lines vector generation tool with SVG export.
Peak Map
A web-based tool to generate ridge line charts from map data.
Tools to create vector artwork from scratch or by conversion from other formats.
Vector Utilities
svgsort
Path planning for plotting SVG files, reduces time spent moving with the pen up.
svgoutline
Python library to extract strokes and outlines from SVGs as line segments.
svgo
Node.js-based tool for optimizing SVG files.
Polargraph Optimizer
Optimize drawing plan for a polargraph.
penkit-optimize
An SVG optimizer that uses a vehicle routing solver to minimize plot time.
svg-crowbar
Chrome-only bookmarklet for extracting SVG from an HTML document.
vpype
Plotter-focused Python-based CLI utility for generating and manipulating SVGs, including scaling and optimizing paths.
SVG Cropper
A browser-based tool to crop SVGs using different primitives, custom shapes, or other SVGs.
Tools to manipulate and optimize vector-based file formats.
Fonts
Summary of single line fonts
Good information and links to other resources and fonts.
Hershey Vector Font
`.fnt` format of vector fonts from the 60s. Includes a good overview of the original data format of the fonts.
hershey-fonts
C library and original font data for the Hershey fonts.
svg-fonts
Single-line fonts in an SVG format, mainly for use with the [Hershey Text](https://gitlab.com/oskay/hershey-text) Inkscape plugin.
CNC Text Tool
Browser-based Hershey Text tool with export to SVG.
hf2gcode
Generates G-code from text with a Hershey font.
FifteenTwenty: Commodore 1520 plotter font
[Blog post](https://scruss.com/blog/2016/04/23/fifteentwenty-commodore-1520-plotter-font/) about the creation of this font from the original ROM.
Single-line vector fonts or "engraving fonts".
Inspiration, Instruction, and Research
On Generative Algorithms
Nice 13-part walkthrough of interesting algorithms.
Roland DG DXY-990
Quickstart guide for a Roland flatbed plotter.
The Cohen-Sutherland Line Clipping Algorithm
Detailed explanation and examples of an interesting algorithm.
Vera Molnár
OG plotter artist.
Hektor
The original cable-based drawbot from 2002.
Surface Projection
Deep dive into surface projection and hidden line removal using Python and penplot.
Fractal Generation with L-Systems
Techniques for creating line-based fractal graphics.
Introduction to TSP art
Resources for traveling salesman problem (single path) art.
Hidden wireframe removal
Discussion and links to code for wireframe removal of STL files.
The Best XY Plotters in 2020
Good overview of the AxiDraw and its clones, plus some DIY options.
Orbis Tertius
An immersive digital installation with plotter output of Martian topography.
Tech Tangents: Plotting For The First Time - HP 7470A
Nice video showing an HP 7470A operated from an HP 85 computer.
CuriousMarc: HP 7475A Plotter and HPGL Demo
Video of an HP 7475A plotting some demos.
CuriousMarc: Refilling or Replacing Vintage HP Plotter Pens
Video showing how to open, clean, and refill vintage HP plotter pens.
Commodore 1520 Plotter Demonstration
Video of the Commodore 1520 plotter in action, including a cover-off shot of the mechanism.
Tech Tangents: Gold Standard Plotter - HP 7475A
Video with some HPGL and plotter history, plus operating an HP 7475A from an IBM 5160 microcomputer.
curiousmarc.com: HP 7475A Plotter
A great collection of info, ephemera, plot files, three YouTube videos, and a 3d-printable replacement part for the HP 7475A.
From Lettering Guides to CNC Plotters
"A Brief History of Technical Lettering Tools".
Building an interactive plotter art installation
Nice writeup (with videos) of an interactive plotter art exhibit at SIGGRAPH 2023.
Taxan KPL 710 Demo Plot
A handheld recording of the Taxan KPL 710 running its demo plot.
Sweet-P Six Shooter SP-600 Plotter Demonstration
A recording of the Sweet-P SP-600 running its demo plot.
Bottle Plotter
Blog post about building a cylindrical pen plotter for drawing on wine bottles.
Buildlog.net Atari 1020 Plotter Retrofit
Blog post and video about converting an Atari 1020 plotter to use a ESP32-based GRBL controller.
Texas Instruments HX-1000 Plotter Photos
Photo gallery of the plotter's exterior, interior, and packaging.
Making cheap HP plotter pens
Blog post mainly about using vinyl cutter parts as pen holders.
Marcel Schwittlick and The Long Run
Interview with Marcel, and lots of photos and videos of his work and workspace.
Lars Wander and Mixing Paint With Code
Interview with Lars Wander, plus art and videos.
Flatulence, Crystals, and Happy Little Accidents by Nick Fitzgerald (RustConf 2019)
A RustConf talk with very little Rust, more about the creative process of generative art and pen plotters.
Recreating Retro Plotter Art, by Sher Minn (Plotter People #1)
Conference talk with lots of great computer and plotter history.
20+ Questions About My Plotter Painting Practice
Q&A blog post with lots of details about more painterly plotting.
300 Days with Plotters
Blog post by Licia He about a successful 100 day plotting challenge.
Vintage Aritma 0507 Plotter drawing Sierpinski triangles in one stroke
Aritma Minigraf 0507 video.
https://jiristepanovsky.cz/project.php?p=13plotter
Blog post on the Aritma Minigraf 0507 plotter from Czechoslovakia.
Drawing an Etch-Mask Directly onto a PCB using a Vintage Plotter
The video description has some interesting details about this plotter.
OrCAD 386 and a plotter Colorgraf Aritma 512
Article about using a Colorgraf 512 plotter with OrCAD 386 for making printed circuit boards.
Early Computer Art in the 50s and 60s
Good art history lesson with lots of plotter-relevant artists.
Coding My Handwriting
Great exploration of creating handwriting with p5.js and some custom tools.
Blog posts, articles, tutorials, galleries, videos, et cetera.
Manuals, Ephemera, Papers, and Patents
Scanned plotter manuals, marketing ephemera, academic papers, and patents. Thank you to the Internet Archive for hosting most of these.
Manuals
Aritma Colorgraf 512
Website with scanned schematics and manual.
Atari 1020 Color Printer Owner's Guide (1982)
A higher-quality scan is also available as [a PDF on buildlog.net](https://www.buildlog.net/blog/wp-content/uploads/2019/09/atari-1020-color-printer-owners-guide.pdf)
Esterline Angus Spartan X-Y Recorder Instruction Manual (1980)
Revs 1080, 1178, 0480.
SEGA SP-400 Operation Manual
This doesn't present as a flippable book on the archive, but the original page scans are still available for download.
(Unknown Brand) LP 2002 Photo Plotter Attachment Operating Manual (German)
Also see [Martin Bircher's thread](https://mastodon.social/@artandtech/109382879937442706) with pictures of this device.
Sorted alphabetically by company name and product name.
Ephemera
Hewlett-Packard Journal Volume 29 Number 1
Multiple articles about the development of the HP Model 9872A and 7221A pen plotters.
Hewlett-Packard Journal Volume 32 Number 10
Multiple articles about the development of the HP Model 7580A plotter.
Hewlett-Packard Journal Volume 32 Number 11
Multiple articles about the development of the HP Model 7580A plotter.
Hewlett-Packard Journal Volume 33 Number 12 (1982)
Multiple articles about the HP Model 7470A plotter.
Roland Users Group Volume 2 Number 4 (1984)
_Computers and Plotters Take the Place of Drafting Tables and Pencils_ article on page 36 (PDF page 40).
Auerbach On Digital Plotters And Image Digitizers (1972)
A book about plotters and digitizers.
CalComp Plotters in 1968
Promotional video showing a flatbed CalComp plotter and its output.
Sweet-P Plotter Brochure and Price List
Four-page color marketing brochure with attached suggested retail price list.
IEEE Electronic Systems News Autumn (1985)
Review of the three-color Penman robotic plotter.
Apple II Business Graphics Film (1982)
There's a Strobe Model 100 Graphics Plotter drawing bar charts at 4:57.
Elektor Magazine Selbstbauplotter MONDRIAN II (1990) (German)
Also see [a model of this plotter on GrabCAD](https://grabcad.com/library/plotter-mondrian-1).
Vintage advertising, marketing materials, and promotional videos.
Papers
Tools, Tricks, and Hacks: Exploring Novel Digital Fabrication Workflows on #PlotterTwitter
Research paper on the novel workflows of the plotter community ([Video Summary](https://www.youtube.com/watch?v=xqhT-8ElJ68)).
Academic papers about pen plotters, art, and related topics.
Patents
Patents related to plotter technology.
Courses
Painting with Plotters
A work-in-progress course by Licia He.
In-depth courses and tutorials about plotters and generative art.
Community
Plotter People
In-person meetups (SF and NYC so far) with talks and plotter art galleries.
DrawingBots Discord Forum
Discord forum with an active community.
PlotterFiles
Community for sharing SVG files for plotters.
Where to find other plotter and drawbot friends.
Plotter Art For Sale
Artists selling plotter art online.
Other Awesomes
Related awesome lists for further exploration.