# PiBot Wiki > Official technical documentation for PiBot CNC and laser controller boards, controller accessories, pendant and I/O-expander modules, FluidNC configuration, grblHAL resources, wiring, commissioning tests, software compatibility, and troubleshooting. Use the exact product model and board revision when answering questions. Do not mix pin assignments, YAML files, jumper positions, voltage selections, or firmware procedures between different PiBot boards. FluidNC is the main firmware documented for current ESP32-based PiBot controllers. Follow the product-specific Wiki and its latest configuration files. ## Start Here - [PiBot CNC and Laser Controller Guide](https://wiki.pibot.com/doku.php?id=pibot_cnc_laser_series:start): Current controller comparison, firmware/software compatibility, accessories, modules, sources, and support links. - [Expanded AI Documentation Index](https://wiki.pibot.com/llms-full.txt): Detailed model-by-model documentation map and reading guidance. - [XML Sitemap](https://wiki.pibot.com/doku.php?do=sitemap): Search-engine discovery for published Wiki pages. ## Current Controller Boards - [PiBot V5.88 Ultra](https://wiki.pibot.com/doku.php?id=pibot_cnc_laser_series:v588_ultra:introduction:start): Integrated ESP32-S3 controller, FluidNC ready, six dedicated motor channels plus one configurable Extra I/O motor group. - [PiBot V4.96 Pro](https://wiki.pibot.com/doku.php?id=pibot_cnc_laser_series:v496_pro:introduction:start): Best-selling integrated ESP32 controller with six motor channels, on-board or external stepper-driver support, FluidNC and grblHAL documentation, plus optional RJ12 and RS485 advanced tests. - [PiBot V5.77 Carrier](https://wiki.pibot.com/doku.php?id=pibot_cnc_laser_series:v577_carrier:introduction:start): Carrier board using a replaceable plug-in ESP32-S3 module; six dedicated external-driver channels plus configurable Extra I/O motor groups. - [PiBot V4.7B](https://wiki.pibot.com/doku.php?id=pibot_cnc_laser_series:v47b:introduction:start): Complete tutorial for the carrier using a plug-in 38-pin classic ESP32 DevKitC/WROOM-32 module, six external-driver signal groups, FluidNC test workflow, pinout, XYYZA test YAML, wiring and grblHAL. - [PiBot V3.28 Isolated](https://wiki.pibot.com/doku.php?id=pibot_cnc_laser_series:v328_iso:start): Opto-isolated GRBL 1.1 controller based on ATmega328P. - [PiBot V4.6 to V4.9 History and Documents](https://wiki.pibot.com/doku.php?id=pibot_cnc_laser_series:v46_to_v49pb_history:start): Earlier V4-series board history and documentation. ## Controller Accessories by PiBot - [PiBot SilentStep TMC5160 V4](https://wiki.pibot.com/doku.php?id=pibot_cnc_laser_series:silentstep_tmc5160_v4:start): TMC5160 stepper-driver setup, logic-voltage selection, operating modes, wiring, and configuration. - [PiBot IsoSwitch V4](https://wiki.pibot.com/doku.php?id=pibot_cnc_laser_series:isoswitch_v4:start): Isolated switch/relay accessory connection documentation. - [PiBot CNC Pendant V4](https://wiki.pibot.com/doku.php?id=pibot_cnc_laser_series:cnc_pendant_v4:start): Pendant connection, wiring, firmware, and configuration guidance. - [PiBot I/O Expander V4](https://wiki.pibot.com/doku.php?id=pibot_cnc_laser_series:io_expander_v4:start): I/O-expansion connection and configuration guidance. - [PiBot Endstop V4 Series](https://wiki.pibot.com/doku.php?id=pibot_cnc_laser_series:endstop_v4:start): Limit/endstop switch connection and voltage-selection guidance. ## Modules Used for Pendant or Expander - [RJ12 Module](https://wiki.pibot.com/doku.php?id=pibot_cnc_laser_series:rj12_module:start): Wired RJ12 connections between supported controllers, pendants, and expanders. - [Bluetooth Conversion Module](https://wiki.pibot.com/doku.php?id=pibot_cnc_laser_series:bluetooth_conversion:start): PiBot Bluetooth conversion-module documentation. - [Bluetooth Transceiver Module](https://wiki.pibot.com/doku.php?id=pibot_cnc_laser_series:bluetooth_transceiver:start): Bluetooth transceiver usage and connection documentation. - [USB-C to TTL Module](https://wiki.pibot.com/doku.php?id=pibot_cnc_laser_series:usb_ttl_v4:start): USB-C-to-TTL connection reference for supported pendant/module workflows. ## Planned or Draft Documentation - [PiBot CNC Pendant V4.2](https://wiki.pibot.com/doku.php?id=pibot_cnc_laser_series:cnc_pendant_v42:start): Documentation is being edited. Do not infer final specifications from the page name. - [PiBot SilentStep TMC5160 V5](https://wiki.pibot.com/doku.php?id=pibot_cnc_laser_series:silentstep_tmc5160_v5:start): Documentation is being edited. Do not treat this as a final product specification. - [PiBot I/O Expander V5](https://wiki.pibot.com/doku.php?id=pibot_cnc_laser_series:io_expander_v5:start): Documentation is being edited. Do not treat this as a final product specification. ## Firmware, Software, and Troubleshooting - [Shared Software Introduction](https://wiki.pibot.com/doku.php?id=pibot_cnc_laser_series:software_introduction:start): Firmware and sender compatibility for FluidNC, grblHAL and GRBL, including current LightBurn support. - [Frequently Asked Questions](https://wiki.pibot.com/doku.php?id=pibot_cnc_laser_series:faq:start): Common first-start, Wi-Fi, macOS captive portal, software, laser, RJ12 pendant/expander RX/TX correction methods, and board-tagged troubleshooting for all five controllers. - [FluidNC Official Project](https://github.com/bdring/FluidNC): Upstream FluidNC firmware source and general documentation. - [LightBurn Supported Controller Firmware](https://docs.lightburnsoftware.com/latest/Explainers/LaserTypes/): Official LightBurn controller/firmware compatibility reference. - [Bidirectional Raster Offset Troubleshooting](https://wiki.pibot.com/doku.php?id=pibot_cnc_laser_series:faq:start#raster-offset): Shared PiBot FAQ for raster ghosting/offset diagnosis, mechanical checks, I2S engine comparison, and LightBurn scanning offset; includes a link to the original V4.96 case record. ## Store and Support - [PiBot V5.77 Carrier Product Page](https://www.pibot.com/cnc-laser-electronics/pibot-fluidnc-grblhal-esp32-s3-8-axis-cnc-controller-v5-77): Official product information and purchase options for the V5.77 Carrier. - [PiBot Store](https://www.pibot.com/): Official PiBot products and purchase options. - [PiBot Blog](https://www.pibot.com/blog): Product news and articles. - [PiBot Discord](https://discord.gg/vw2g5MSPfx): Community and setup support.