Name: PiBot FluidNC ESP32 GRBL Laser CNC Controller V4.96 Pro
Brand: PiBot
SKU: PICOB490B01
Price: 54.99 USD
Availability: InStock
Rating: 5 (5 reviews)

PiBot FluidNC ESP32 GRBL Laser CNC Controller V4.96 Pro

-31%

PiBot FluidNC ESP32 GRBL Laser CNC Controller V4.96 Pro

Stock: In Stock
Brand: PiBot
Weight: 0.11kg
SKU: PICOB490B01

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★ BEST SELLER

INTEGRATED ESP32 · 4 DRIVER MODES

Six axes, four stepper-driver modes and an integrated ESP32 — PiBot's best-selling CNC & laser controller.

V4.96 Pro drives six motors from one board using on-board StepStick drivers, on-board SPI drivers (TMC2130), external standard drivers (TB6600/DM-style) or external SPI drivers (TMC5160) — in almost any combination. FluidNC provides Wi-Fi WebUI and YAML configuration; grblHAL and GRBL1.1f are supported as additional firmware options. V4.96 Pro is compatible with most V4.9PB configurations and adds a 4-layer PCB, optimized SPI signal routing and selectable limit-switch voltage.

6 Axeson-board or external drivers

4 ModesStepStick · standard · SPI

FluidNC+ grblHAL / GRBL1.1f

12–24 Vcontroller power input

★Best SellerPiBot's most popular board

Why Choose V4.96 Pro?

Integrated ESP32, nothing to selectThe ESP32 is built into the board and pre-flashed with FluidNC and a factory test configuration. There is no separate controller module to choose or plug in.

Four driver modes, one boardUse the six on-board StepStick sockets, on-board SPI (TMC2130), external standard drivers or external SPI (TMC5160) — matched to the machine you're building today.

4-layer PCB, optimized SPIImpedance-controlled 4-layer routing and a dedicated power plane mean V4.96 Pro's SPI port no longer needs the external resistor that V4.9PB required.

Browser-based FluidNC setupUpload files, jog, check status and manage G-code from the WebUI over Wi-Fi. Most machine changes are made in a readable YAML file — no firmware compiling required.

FluidNC Ready — The Main Firmware

FluidNC is optimized for ESP32 motion controllers. It provides a built-in browser WebUI and defines the machine in a text-based YAML file, so normal machine configuration does not require compiling firmware. PiBot ships V4.96 Pro pre-loaded with a factory test YAML so the checklist below can be followed before any machine-specific configuration is written.

Wi-Fi WebUIUse a computer, phone or tablet on the same network to jog, upload files, view status and run jobs.

Readable YAMLSix factory-tested YAML examples cover on-board, external, SPI, pendant and I/O-expander configurations.

USB + microSDUSB-to-UART bridge for firmware/YAML upload and a microSD socket for local G-code storage.

Visual PiBot tutorialThe current Wiki is an interactive checklist — required tools, jumper checks, command cards and pass/fail results — from jumper verification through motor, input, PWM, laser, 0–10 V and RS485 tests.

Start the V4.96 Pro Tutorial Download YAML Examples Official FluidNC Installer

Additional firmware option: the official grblHAL ESP32 project provides a PiBot 6-axis I2S board target, and grblHAL can also run in a GRBL1.1f compatibility mode. FluidNC YAML files do not configure grblHAL; each firmware uses its own setup method.

Hardware at a Glance

The numbered overview below is maintained with the current Wiki and matches the supplied factory test YAML. FluidNC pins are fully re-assignable in YAML, so treat these as the tested starting point, not a fixed pinout, when wiring a real machine.

Current V4.96 Pro pin & jumper overview — click to open the full-resolution image.

VDD jumperSelects driver logic voltage: 3.3 V for SPI-type drivers (default), 5 V for external drivers that need 5 V logic.

SW-VCC jumperSelects switch-input voltage: 5 V by default, or Vmot-main for industrial 12/24 V limit switches.

USB 5 V test jumperFeeds USB 5 V into the board for bench testing. Remove it before connecting the main 12–24 V power supply.

External antennaV4.96 Pro has no on-board antenna; an external antenna must stay connected or Wi-Fi signal may be lost.

Four Stepper-Driver Modes on One Board

V4.96 Pro is built to fit more machines without swapping boards. Each of the six motor positions can be wired for on-board StepStick drivers, on-board SPI drivers, or routed to the green terminal blocks for external standard or external SPI drivers — selected with jumpers, not solder changes.

A · On-board StepStick

A4988, DRV8825, TMC2208, TMC2209. Remove all SPI jumpers; set MS1/MS2 on-board and MS3 in YAML.

B · External standard

TB6600, DM420, DM542, DM556. Insert slot jumpers to route EN/STP/DIR/GND to the green terminals; remove on-board MS1/MS2/RST/SLP.

External standard driver connection example

C · On-board SPI

TMC2130, independent SPI mode — each driver uses its own CS pin. Insert SPI jumpers; remove driver slot and on-board configuration jumpers.

D · External SPI

TMC5160, daisy-chain SPI mode — drivers share one CS pin (default I2SO.3). Remove SPI jumpers; insert driver slot jumpers.

Mixing ruleOn-board StepStick drivers can be mixed with external standard drivers position-by-position. SPI mode (on-board or external) cannot be mixed with any other mode, and on-board SPI cannot be mixed with external SPI.

SPI upgrade vs V4.9PBV4.9PB's SPI connection needed a 47Ω series resistor on the SPI line. V4.96 Pro's optimized 4-layer routing removes that requirement — no additional resistor is needed for either on-board or external SPI drivers.

Spindle, Laser and Auxiliary Control

V4.96 Pro supports multiple spindles on one machine, switched by G-code tool number (M6 Tn). Lasers are treated as spindles, so a single job can combine, for example, an ATC spindle and a laser.

5 V PWMSpeed-control signal for compatible spindle controllers, BESCs and other configured PWM devices.

Laser PWMDedicated configured signal path for a compatible laser controller. Validate polarity and voltage with the laser disconnected.

Adjustable 0–10 VAnalog speed command for compatible VFDs (Huanyang, YL620, H100, Danfoss VLT2800, Siemens V20 and other Modbus VFDs), with an onboard relay for start/stop.

Modbus RS485On-board RS485 interface for supported Modbus RTU VFDs. A and B can be swapped safely if reversed.

0–10 V VFD connection example

Laser PWM connection example

Two light-load MOSFET outputs

GPIO.4 and GPIO.12 also control the matching low-side MOSFET channels. Each channel is limited to 1.5 A maximum on V4.96 Pro.

Use these outputs for suitable light DC loads. For a pump, solenoid, fan or other heavier/inductive load, control an external relay or suitable power driver. Overloading the channel can burn the MOSFET.

Inputs and Limit Switches

The SW-VCC jumper sets the voltage reference for switch inputs, so V4.96 Pro can work with three different switch types on the same board (though 5 V and Vmot-main switches cannot be mixed in the same system).

Standard switchNo polarity, on/off only. Works regardless of the SW-VCC setting; configure trigger logic in YAML.

5 V switchHigher precision than a standard switch. Set SW-VCC to 5 V. GPIO.2 and GPIO.26 do not support this switch type.

12–24 V industrial switchPNP/NPN switches powered from Vmot-main (6–24 V). Set SW-VCC to Vmot-main; GPIO.2 and GPIO.26 do not support this switch type.

24 V wiring note: earlier V4.96 Pro production recommended a 2.2 kΩ (or higher) series resistor on the signal line when using a 24 V industrial switch. Current production no longer requires it, but if you're unsure which revision you have, adding the resistor is a safe, harmless precaution — check the current Wiki wiring guide for your board.

OLED, Pendant and I/O Expander

An optional OLED can display controller status. The RJ12 expansion port supports a compatible PiBot pendant or I/O expander, using the documented UART pinout.

Optional RJ12 pendant connection

Wired RJ12Direct wired connection to the PiBot CNC Pendant V4 or a compatible I/O expander, per the documented pinout.

Bluetooth moduleThe Pendant V4 package includes a Bluetooth transceiver pair for a wireless connection to the mainboard; pairing is required before use.

Via I/O ExpanderThe PiBot STM32 I/O Expander has a dedicated "To Pendant" RJ12 port, adding 18 configurable I/O pins while passing the pendant connection through.

Shared pins: OLED and the RJ12 pendant/expander port both use GPIO.25 / GPIO.27. Use one interface at a time and power off before connecting an accessory.

V4.96 Pro vs. V4.9PB

V4.96 Pro is compatible with V4.9PB: most existing V4.9PB YAML configurations and settings carry over directly. The changes below are what's new on V4.96 Pro.

Area	What changed on V4.96 Pro
PCB	4-layer, impedance-controlled design; capacitor ratings raised from 35 V to 50 V
SPI routing	Dedicated power plane and optimized SPI signal routing; no longer needs the 47Ω resistor V4.9PB required
SPI chip-select wiring	External SPI port uses I2SO.3 (CS.X) instead of GPIO5 for more intuitive wiring
Limit-switch voltage	SW-VCC selector adds a high-precision, high-voltage (12/24 V) industrial switch option alongside standard and 5 V types
Limit-input protection	Diode protection and status LEDs added to limit-switch inputs
Signal indicators	Status LEDs added on every stepper-motor signal output, not just power and inputs

V4.96 Pro Specifications

Item	V4.96 Pro
Controller	Integrated ESP32, pre-flashed with FluidNC and a factory test YAML
Main firmware	FluidNC with Wi-Fi WebUI and YAML configuration
Additional firmware	Official grblHAL ESP32 PiBot 6-axis I2S target; GRBL1.1f compatibility mode via grblHAL
Motor outputs	6 axes; each position configurable as on-board StepStick, on-board SPI, or routed to green terminals for external standard/SPI drivers
Tested drivers	On-board TMC2130; external TMC5160; standard StepStick modules (A4988/DRV8825/TMC2208/TMC2209); external TB6600/DM-style drivers
Spindle / laser	5 V PWM, laser PWM, adjustable 0–10 V, on-board relay, and Modbus RTU over RS485
MOSFET outputs	2 low-side channels (GPIO.4 / GPIO.12), 1.5 A maximum per channel
Limit switches	Standard, 5 V or 6–24 V industrial (SW-VCC selectable); diode-protected with status LEDs
Storage	microSD (TF) card socket; avoid very high-speed or high-capacity cards
Display / expansion	Optional OLED or RJ12 pendant/I/O expander; OLED and RJ12 share GPIO.25 / GPIO.27 and are mutually exclusive
USB	USB-to-UART bridge (CP2102-class) on-board
Wireless	Wi-Fi via external antenna (required for signal); Bluetooth via the optional Pendant V4 accessory
Controller power	12–24 V DC (24 V recommended), correctly polarized
Enclosure	Fits the PiBot 150 × 90 × 40 mm electronic box (sold separately)

What Is Included?

V4.96 Pro board with integrated ESP32 — silkscreened "PiBot FluidNC V4.96 Pro".

Base productOne PiBot V4.96 Pro controller board with its integrated ESP32, pre-flashed with FluidNC and a factory test YAML. No separate controller module needs to be selected.

Required to operate motorsSuitable on-board or external stepper drivers and motors. Only on-board StepStick/SPI sockets are already on the board; external drivers are not included unless selected.

Optional accessoriesOLED, pendant, I/O expander, TMC5160 external driver and cables are included only when the matching option is selected and available.

Before ordering: product photos show possible configurations. Check the options above for the exact package contents and available PCB color.

Base package shipping list

PiBot V4.96 Pro Controller Board × 1
Jumpers Set × 1
Cable Set × 1

Compatible PiBot Accessories

These PiBot accessories are shared across the V4 controller family (V4.7B, V5.77, V4.96 Pro) and are sold separately unless the matching product option is selected.

Electronic Box150×90×40 mm

OLED Display0.96" I2C

IsoSwitch Relay Boardoptocoupler isolated

CNC Pendant V4.0RJ12 / Bluetooth

SilentStep TMC5160external SPI driver

Setup and Hardware Videos

Full V4.96 Pro Checklist Video Series

The current V4.96 Pro Wiki is an interactive, step-by-step checklist — required tools, jumper checks, command cards and pass/fail results for every test. This 9-video playlist follows the same checklist, one video per step: jumper check & power-on, Wi-Fi & WebUI login, axis test, endstop test, PWM test, 0–10 V test, laser test, relay test and USB driver test.

The four videos below are original reference videos retained from earlier V4/V4.9PB documentation. Interfaces, download packages and example configurations may have changed; use the current V4.96 Pro Wiki and the checklist series above for the exact firmware, YAML and command sequence.

5-Minute FluidNC Setup

Firmware and WebUI Overview

Relay / PWM / Laser / 0–10V Test

Connect Hardware: Limits, Probe, Motor, Relays

Product and Reference Gallery

Additional product and PCB references are shown below. Current electrical limits, signal assignments and firmware procedures are defined by the V4.96 Pro Wiki and schematic for the exact board revision.

PiBot V4 series family overview; availability follows the selected product option.

V4.96 Pro annotated connector reference

V4.96 Pro annotated output & jumper reference

Board dimensions (from the V4.9 Plus generation; V4.96 Pro shares the same footprint and 150×90×40 mm enclosure).

Firmware and Software Compatibility

LightBurn officially lists GRBL, FluidNC and grblHAL as supported GCode controller firmware. Check the PiBot Software Introduction and the software vendor's current documentation before final machine setup.

Current V4.96 Pro Schematic

Current V4.96 Pro schematic — click the image to open full size.

Before First Power-On

Use 12–24 V DC only and verify VIN/GND polarity before applying main power. 24 V is recommended for stepper driver headroom.
Remove the USB 5 V test jumper before connecting the main power supply.
Match jumpers to your chosen driver mode before power-on, and never mix SPI mode with on-board or external standard-driver jumpers on the same axis.
Test motor, input, PWM/laser/0–10 V/RS485 signals via the WebUI before connecting the final motors, VFD or laser load.
MOSFET limit: 1.5 A maximum per channel. Use an external relay or suitable power driver for heavier loads.

Quick Buyer FAQ

Does it include the ESP32?Yes. The ESP32 is integrated on the board and pre-flashed with FluidNC and a factory test YAML — there's no separate module to select.

Can I mix on-board and external drivers?On-board StepStick drivers can be mixed with external standard drivers position-by-position. SPI mode (on-board or external) cannot be mixed with any other driver mode.

Will my V4.9PB YAML work on V4.96 Pro?Most V4.9PB configurations carry over directly. The main change is that V4.96 Pro's SPI connection no longer needs the 47Ω resistor V4.9PB required.

Does it support grblHAL?Yes, as an additional firmware option via the official grblHAL ESP32 PiBot 6-axis I2S board target, including a GRBL1.1f compatibility mode.

Looking for Earlier Documentation?

V4.96 Pro replaces V4.9 Plus B in current production, and most V4.9PB documentation, tutorials and videos still apply. If you own an earlier board, or you're looking for the previous (pre-August 2026) version of this product page, the original documentation remains available below.

V4.9 Plus (2024) Documentation V4.9 Plus B (2025) Documentation V4.96 Pro — Previous Page (pre-2026-08)