This controller is designed to operate a wide range of CNC machines. It can drive six motors and supports various spindles and lasers—including those with PWM, 485, and 0-10V outputs — compatibility with FluidNC, GRBLHAL, and GRBL1.1f.

• Integrated ESP32 (Programmed with FluidNC. Includes a generic configuration)
• (6) Motor connectors for external stepper drivers (5v signals). Each motor has separate step, direction and enable signals.
• Inputs for switches (limits, probes, control, etc)
• Communication Mode: USB Cable or Blue Tooth or WIFI
• Spindles (many types supported). Some multi-spindle arrangements are possible like RS485 & laser on the same machine.
• 0-10V controlled spindles with additional forward and reverse direction signals
• PWM Speed controllers with optional separate enable signals
• Relay (on/off) controlled spindles.
• BESC (Brushless Motor) based spindles
• Lasers with PWM and enable
• Unused spindle 5V outputs can be used for any output function (coolant, etc)
• Micro SD card socket for local storage of gcode files
• Module socket for GPIO extenders and Pendant interfaces.
• Compatible with PiBot Stepper Motor Driver V4
• Compatible with PiBot Isolated Relay Board V4
• Tested the on board TMC2130 Driver
• Tested the Extend TMC5160 Driver

• A. For the FluidNC official original firmware, It adopts the pin configuration of FluidNC 6x to ensure enhanced compatibility，FluidNC is very easy to configure. You never have to compile any software. All configuration, upgrading, etc can be done via web browser. we provide yaml example configuration file.

• B. For grblHAL and GRBL1.1f, you can configure them directly via the WebBuild platform on grblHAL's official website. This ESP32 flash tool also allows for easy firmware uploading. Moreover, thanks to grblHAL's built-in compatibility mode for GRBL1.1f, you can utilize a wide range of software that requires GRBL1.1f support.

• C. You can find relevant information on the official FluidNC and GRBLHAL wiki sites. In parallel, we are optimizing our Simple Tutorial with clear visuals and videos to streamline the learning process.

• D. Compatible Software vs. Firmware, This table is based on our tests in October 2025. Be aware that software changes might have occurred or there might be some inaccuracies, so you can run your own tests.

Compatible with the FluidNC official original firmware, we provide yaml example configuration file.

Compatible with the GRBLHAL official Web-builder, GRBLHAL can set to GRBL1.1f level.

The PIBot V4 board natively supports the GRBLHAL OLED, as this code was contributed by Luc from France (ESP3D Developer) and tested using the PiBot V4 mainboard.

Thank you for your support. We have currently updated to the 4.96 Pro version, which is compatible with V4.9PB. We have implemented numerous optimizations and upgrades, such as adopting a four-layer PCB design, optimizing SPI signals, adding 22 LED lights for input and output display, and adding support for high-precision, high-voltage limit switches.

All orders will be shipped with the new version. Additionally, our tutorials are constantly being updated. Most configurations of the V4.96 Pro are compatible with the V4.9PB, so you can refer to the V4.9PB settings for now.

A：The version are silkscreened with “PiBot FluidNC V4.96 Pro”.

B：There are two 3-pin jumpers for selecting the “Driver Logic Signal Level” and “SW_VCC”.

C：There are a total of an impressive 34 LEDs on the PCB for status display.

Thank you all for your support and feedback. We continuously update and improve our products.

===Versions–without–ESP32 chips===

===Versions with integrated ESP32 chips===

The V4.9 PLUS and later Versions can adapt a 150 * 90 * 40mm box and use screw terminals

1. Fits in a 150 * 90 * 40mm box (needs to be purchased separately)

2. Changed output connector to screw terminal method

3. Changed to external antenna for better speed and stability

4. Separate main power supply and stepper motor power supply inputs

5. Uses plugs to change output for drivers or motors

6. Supports onboard TMC2130 and TMC5160 drivers, as well as external TMC5160 drivers (only for 2025 V49PB)

7. CP2102 chips procured from Silicon Labs' official authorized suppliers

8. Genuine ESP32 chips procured from Espressif's official suppliers for greater stability and reliability

1. The board features a 4-layer PCB design with impedance-controlled manufacturing, upgraded component suppliers, and solid capacitors with voltage ratings increased from 35V to 50V.

2. The layout has been optimized with a dedicated power plane and improved SPI signal routing, The layout was inspected by engineers from three separate companies.

3. The SW_VCC selector supports standard limit switches, medium-precision 5V types, or high-precision industrial-grade 12V/24V limit switches.

4. All limit switch inputs include diode protection and status LEDs.

5. Signal output indicators have been added for all stepper motors with integrated LEDs.

6. The SPI external port now uses CS.X instead of GPIO5 for more intuitive wiring.