Grbl (CNC Controller) For ESP32

• Motors
  • Control up to 6 coordinated axes (XYZABC)
  • Each axis can have 1 or 2 motors each for a total of 12 motors
  • Dual motors axes can optionally auto square using a home switch and independent control for each motor.
  • Motor drivers can be dynamically assigned to axes, so a 4 motor XYZA controller could be independent to a XYYZ (dual motor Y axis) without any hardware changes.
  • Step rates up to 120,000 per/second.
  • Trinamic (SPI controlled) stepper motors are supported including StealthChop, CoolStep and StallGuard modes. Sensorless homing can be used.
  • Unipolar stepper motor can be directly driven
  • RC hobby servos can be used as coordinated motors with acceleration and speed control.
• Peripherals
  • Limit/Homing Switches with debouncing
  • User input buttons (hold, resume, reset)
  • Coolant control (Mist, Flood)
  • Z Probe (any axis)
  • Safety Door (open door safely retracts and stops spindle, can be resumed)
  • Additional I/O via shift register and I/O expanders supported (on dev branches)
• Job Control
  • Instant feed hold and resume
  • Feed rate override
  • Spindle speed override
• Spindles
  • PWM
  • RS485 Modus
  • DAC (analog voltage) 0-10V
  • Relay Based
  • RC type Brushless DC motors using low cost BESCs
  • Laser PWM with power/speed compensation
  • Easy to create custom spindles
• Connectivity
  • USB/Serial
  • Bluetooth/Serial Creates a virtual serial port on your phone or PC. Standard serial port applications can use Bluetooth.
  • WIFI
    • Creates its own access point or connects to yours.
    • Built in web server. The server has full featured CNC control app that will run on your phone or PC in a browser. No app required.
    • Telnet sending of gcode
    • Push notifications (like...job done, get a text/email)
    • OTA (over the air) firmware upgrades.
• SD card. Gcode can be loaded and run via WIFI.
• Compatibility
  • Grbl_ESP32 is fully backward compatible with Grbl and can use all gcode senders.
• Customizable
  • Easy to map pins to any functions.
  • Custom machines can be designed without touching the main code.
  • Custom initialization
    • Kinematics
    • Custom homing
    • Tool changer sequences
    • Button macros (run gcode sequence, etc.)
    • Custom end of Job sequence
    • RTOS Real time operating system allows background monitoring and control without affecting motion control performance