For this application, the CNC machine will be a two-axis stepper-driven machine with a retractable pen as the end effector. G-code commands are initially processed on a PC with a program written in Python. This G-code is converted by the Python program into instructions specific to the device, which is transferred over serial communication to the PIC® microcontroller. Motion is controlled by two NCO modules slaved to a master NCO to ensure synchronized consistent movement. For instance, if the x-axis needs to travel twice as far as the y-axis, the x-axis NCO is configured with twice the output frequency as the y-axis NCO. By using multiple CIPs, much of the operation is executed with little to no work by the main processor, which will be discussed in this document.