Imaged above is a customized CNC frame designed and machined by Aster Machining. This CNC machine features swappable heads that can be used for wood routing, large bed 3D printing, and placing fiber composites. The frame utilizes a custom written g-code interpreter that runs in Python and communicates commands to a Trinamic TMCM-3110 board. This ensures motor accuracy and allows for the implementation of features such as stall detection, limit switches, and emergency power down. The modular head design and mechanics allow for this frame to be utilized easily for a variety of mechatronic based prototyping purposes.