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This paper presents development of a PCB prototyping system that is able to produce trace lines and drill holes on a PCB board. The system consists of 3 main parts: a mechanical setup that can move in X, Y and Z directions, a driving circuitry and a software program that controls overall operation of the whole system. In this initial work, the system is developed such that it produces a trace line on a PCB board and drill holes on two pads at both end of the trace line. We show that our system successfully performs both of the above tasks.