Lightweight, programmable marking apparatus for moving a marking head to coordinate positions utilizing two fixed stepper motors performing in conjunction with a belt and pulley drive and cam drive systems. The dynamics of pneumatically driven marking pins within marking heads are accommodated for by dual guide rods mounted on marking base frame and material contacting standoffs. Improved marking head structure is provided utilizing a polyetherimide material and the use of an internal spring, rather than air pressure, to retract the marking pin to its top position. The lightweight design of the marking apparatus permits it to be adapted for hand held use.