6 Introduction to Using grblHAL
Official PiBot 6-axis I2S ESP32 target for the V4.7B hardware family
The official grblHAL ESP32 repository contains the pibot_i2s_6_axis_map.h board map. Its classic ESP32 SPI, SD, I2S, motor, input, spindle, I2C and UART assignments match the V4.7B connector design.
Web Builder: open the
grblHAL Web Builder, select driver
ESP32 and board
PiBot 6-axis I2S, then choose only the axes and plugins required by the machine.
Important Shared-Pin Choices
- GPIO 14/15 are used by Modbus RS485 when that feature is enabled; this affects the spindle direction/enable alternatives on the same signals.
- GPIO 25/27 provide I2C for OLED and are also the V4.7B pendant/expander signal pair; configure one use at a time.
- The sixth I2S motor group uses I2SO 23/21/20. Do not copy the FluidNC M7/M8/M64 test assignment into grblHAL.
- Choose the axis count, ganged motors, limits, probe, tool setter, spindle and networking plugins in the build; availability depends on that exact build.
FluidNC YAML does not configure grblHAL. Back up FluidNC and its files before flashing. After flashing grblHAL, configure motion and safety settings using grblHAL settings and documentation.
Official references: grblHAL Controllers and First Run Settings.