The system is a two-axis robotic arm built with the SCARA topology. This system interprets G-Code commands from the MATLAB GUI to control the movements of the arm. Each command will produce an output speed of at least 4 inches per second. Our MATLAB GUI has multiple G-Code options, from G0, G1, M2, and M6. These commands control the movement of the arm, as well as the opening and closing of the grabber mechanism. This grabber will take a writing utensil input ranging from 7-16mm, which is approximately a #2 pencil to a dry erase marker in diameter. This system is meant to draw a 10 inch straight line within a +/- 0.25 inch error margin in all directions. This engineering requirement has not yet been met, as seen by the curved lines drawn by our system. This arm is also equipped with a user interface that allows standard power operation. The interface includes an emergency stop feature that halts the system within one second of activation. To resume operation, the switch must be released before the arm can receive further inputs.