grblHAL core code and master Wiki

Overview

grblHAL

grblHAL has many extensions that may cause issues with some senders. As a workaround for these a compile time option has been added that disables extensions selectively.

IMPORTANT! grblHAL defaults to normally closed (NC) switches for inputs, if none are connected when testing it is likely that the controller will start in alarm mode.
Temporarily short the Reset, E-Stop and Safety Door4 inputs to ground or invert the corresponding inputs by setting $14=73 to avoid that.
Please check out this Wiki page for additional important information.

Windows users may try ioSender, binary releases can be found here. It has been written to complement grblHAL and has features such as proper keyboard jogging, advanced probing, automatic reconfiguration of DRO display for up to 6 axes, lathe mode including conversational G-Code generation, 3D rendering, macro support etc. etc.


Latest build date is 20220111, see the changelog for details.
NOTE: A settings reset will be performed on an update for versions earlier than 20211122. Backup and restore of settings is recommended.
IMPORTANT! A new setting has been introduced for ganged axes motors in version 20211121.
I have only bench tested this for a couple of drivers, correct function should be verified after updating by those who have more than three motors configured.
More details in the changelog.


Updated for lates core changes. NOTE: Arduino drivers has now been converted to Arduino libraries, installation and compilation procedure has been changed!


grblHAL is a no-compromise, high performance, low cost alternative to parallel-port-based motion control for CNC milling and is based on the Arduino version of grbl. It is mainly aimed at ARM processors (or other 32-bit MCUs) with ample amounts of RAM and flash (compared to AVR 328p) and requires a hardware driver to be functional. Currently drivers are available for more than 15 different processors/processor families all of which share the same core codebase.

grblHAL has an open architecture allowing plugins to extend functionality. User made plugins can be added to grblHAL without changing a single file in the source1, and allows for a wide range extensions to be added. New M-codes can be added, space for plugin specific settings can be allocated, events can be subscribed to etc. etc.
Adding code to drive an ATC, extra outputs or even adding a UI2 has never been easier. You can even add your own driver if you feel so inclined.

HAL = Hardware Abstraction Layer

The controller is written in highly optimized C utilizing features of the supported processors to achieve precise timing and asynchronous operation. It is able to maintain up to 300kHz3 of stable, jitter free control pulses.

It accepts standards-compliant g-code and has been tested with the output of several CAM tools with no problems. Arcs, circles and helical motion are fully supported, as well as, all other primary g-code commands. Macro functions, variables, and some canned cycles are not supported, but we think GUIs can do a much better job at translating them into straight g-code anyhow.

Grbl includes full acceleration management with look ahead. That means the controller will look up motions into the future and plan its velocities ahead to deliver smooth acceleration and jerk-free cornering.

This is a port/rewrite of grbl 1.1f and should be compatible with GCode senders compliant with the specifications for that version. It should be possible to change default compile-time configurations if problems arise, eg. the default serial buffer sizes has been increased in some of the drivers provided.

1 This feature is only to be used for private plugins, if shared then a single call must be added to the driver code of the target processors.
2 I do not usually recommend doing this, and I will not accept pull requests for any. However I may add a link to the github repository for any that might be made.
3 Driver/processor dependent.
4 Not enabled by default if building from source, but may be enabled in prebuilt firmware.


List of Supported G-Codes:
  - Non-Modal Commands: G4, G10L2, G10L20, G28, G30, G28.1, G30.1, G53, G92, G92.1
  - Additional Non-Modal Commands: G10L1*, G10L10*, G10L11*
  - Motion Modes: G0, G1, G2, G3, G5, G38.2, G38.3, G38.4, G38.5, G80, G33*
  - Canned cycles: G73, G81, G82, G83, G85, G86, G89, G98, G99
  - Repetitive cycles: G76*
  - Feed Rate Modes: G93, G94, G95*, G96*, G97*
  - Unit Modes: G20, G21
  - Scaling: G50, G51
  - Lathe modes: G7*, G8*
  - Distance Modes: G90, G91
  - Arc IJK Distance Modes: G91.1
  - Plane Select Modes: G17, G18, G19
  - Tool Length Offset Modes: G43*, G43.1, G43.2*, G49
  - Cutter Compensation Modes: G40
  - Coordinate System Modes: G54, G55, G56, G57, G58, G59, G59.1, G59.2, G59.3
  - Control Modes: G61
  - Program Flow: M0, M1, M2, M30, M60
  - Coolant Control: M7, M8, M9
  - Spindle Control: M3, M4, M5
  - Tool Change: M6* (Two modes possible: manual** - supports jogging, ATC), M61
  - Switches: M48, M49, M50, M51, M53
  - Output control***: M62, M63, M64, M65, M66, M67, M68
  - Valid Non-Command Words: A*, B*, C*, F, H*, I, J, K, L, N, P, Q*, R, S, T, X, Y, Z

  *  driver/configuration dependent.
  ** requires compatible GCode sender due to protocol extensions, new state and RT command.
  *** number of outputs supported dependent on driver implementation.

Some plugins implements additional M-codes.


2022-01-11

Issues
  • Plugin For Jogging the Machine w/o Sender active

    Plugin For Jogging the Machine w/o Sender active

    I often find myself in the shop and needed to jog the machine to get the gantry out of the way, but if I'm cutting on the machine I don't take my laptop out with me.

    I'd like a way to move the machine in a limited way from buttons or a joystick etc. without having to get my laptop and fire up the sender.

    On the grblHAL2000 board there is a RaspberryPi header that includes connecting the UART on the Pi to Serial2 on the Teensy. Originally I was thinking that the Teensy behaved like the arduino and that the USB serial would be replicated on the serial port by default, so I could just send some basic jog commands from the Pi when the Laptop wasn't connected, and move the machine.

    It turns out the Teensy does not mirror the USB serial communications on any physical serial pins by default.

    I'm thinking of using the Pi on serial2 on the Teensy and a plugin, perhaps, to allow jogging but I'm unsure of the best way to do it. I would like to be able to use something like a USB IR remote (that I have a few of) on the Pi side and maps those key presses to various GCODE and grbl commands. Does this sound like a reasonable way to do this? Or would it make more sense to somehow enable bidirectional communication on serial2 when the USB isn't active and just talk directly to the grblHAL core that way as if it was just another sender?

    opened by 5ocworkshop 44
  • Due Board Safety Door problem

    Due Board Safety Door problem

    In Board Tinyg Due I could not declare a pin for Safety Door, response "driver error" or something similar. I can only use by software. In generic, it only responds by hardware. In both cases, with the following error: I could not get it to the Parking position: it only stops the movements and the spindle. When the Door pin stops being gnd, it resumes after the established time, or automatically if it is by soft, instead of waiting for the sending of ~

    opened by MARIOBASZ 23
  • Homing issue

    Homing issue

    Hi Terje, have just updated my router to latest code, and seeing a weird homing issue.

    Am running a ganged Y axis, with auto-squaring, on Phil's Teensy41 board. Was previously running code from much earlier in the year, didn't think to make of note of the older revision though.

    Before attempting any movement, I'd moved the Y2 stepper & limit switch connections from B to A, and checked all the limit switches were triggering as expected in the realtime reports.

    On each attempt to home; Z homes correctly as expected. If X is the next axis to reach it's limit switch, the switch is triggered, but the X axis motor doesn't stop. Stepper just stalls against the end stop. If the X axis limit switch is triggered when the Y axis reach their limit switches, then they stop as expected. If the X axis limit switch is not triggered when the Y axis reach their limit switches, then the Y axis motors don't stop. Stepper(s?) just stall against the end stops. If the Y axis limit switch(es?) are triggered when the X axis reaches it's limit, then X axis motor stops as expected.

    Is a bit hard to tell whether it's affecting both or just one of the Y axis in each case.

    Am building with platformio, no code changes, but have commented out the microSD libraries, and added the following settings;

        -DHUANYANG_ENABLE=1
        -DSPINDLE_RPM_CONTROLLED
        -DY_GANGED=1
        -DY_AUTO_SQUARE=1
        -DBLOCK_BUFFER_SIZE=512
    

    Any ideas??

    opened by dresco 17
  • new port questions

    new port questions

    I've been following grblHAL's progress for a couple years. I'm thinking about starting a port for a Teknic ClearCore controller, https://www.teknic.com/products/io-motion-controller/, which uses an M4 SAM E53.

    The terjeio/grblHAL readme states "You can even add your own driver if you feel so inclined." This template link is down https://github.com/terjeio/grblHAL/blob/master/templates/arm-driver

    The HAL dev ref in the wiki, https://github.com/terjeio/grblHAL/wiki/Hardware-Abstraction-Layer-(HAL)----developer-reference is 18 months old. Is a newer one planned? or is this still current.

    I understand the pending grblHAL move is in progress and the ports are in various stages of development...

    1. Which port follows the directory/file structure that you want to see with all new ports?
    2. Is there a template to follow?
    3. Is the HAL Dev Ref page, dated 2019, close to current code revision level?
    4. Have you benchmarked grblHAL's performance when the core runs in a FreeRTOS task?
    5. Do you see any advantage to using FreeRTOS for some more complex designs requiring CPU to multitask with other non-grbl related tasks?

    Thanks for your time.

    opened by holla2040 17
  • The latest grblhal version is getting weird? Error 18

    The latest grblhal version is getting weird? Error 18

    I have F4 and H7, they are different from the past, the specific performance is that the power is in the alarm state, and cannot be unlocked through $x, sending $x will get error 18, sending $H, will get error 5, (no code changes

    I can't get the unlocking in the sender software. I need to press reset and unlock several times to make the grblhal in the idle state. I don't know what happened to the grblhal during this time. cc

    [G59.3:0.000,0.000,0.000] [G28:0.000,0.000,0.000] [G30:0.000,0.000,0.000] [G92:0.000,0.000,0.000] [TLO:0.000,0.000,0.000] [PRB:0.000,0.000,0.000:0] [GC:G0 G54 G17 G21 G90 G94 G49 G98 G50 M5 M9 T0 F0 S0.] [VER:1.1f.20220325:] [OPT:VNMSL,35,1024,3,0] [NEWOPT:ENUMS,RT+,TC,SED] [FIRMWARE:grblHAL] [NVS STORAGE:*FLASH] [DRIVER:STM32H743] [DRIVER VERSION:220325] [BOARD:grblHAL reference map] [AUX IO:3,4,0,0] $0=10.0 $1=25 $2=0 $3=0 $4=7 $5=0 $6=0 $7=0 $10=511 $11=0.010 $12=0.002 $13=0 $14=0 $15=0 $16=0 $17=0 $18=0 $19=0 $20=0 $21=0 $22=0 $23=0 $24=25.0 $25=500.0 $26=250 $27=1.000 $28=0.100 $29=0.0 $30=1000.000 $31=0.000 $32=0 $33=5000.0 $34=0.0 $35=0.0 $36=100.0 $37=0 $39=1 $40=0 $43=1 $44=4 $45=3 $46=0 $62=0 $63=2 $64=0 $65=0 $100=250.000 $101=250.000 $102=250.000 $110=500.000 $111=500.000 $112=500.000 $120=10.000 $121=10.000 $122=10.000 $130=200.000 $131=200.000 $132=200.000 $341=0 $342=30.0 $343=25.0 $344=200.0 $345=100.0 $370=0 $372=0 $384=0 $X error:18 - Reset asserted Grbl1.1f ['$' or '$HELP' for help] [MSG:'$H'|'$X' to unlock] $X error:18 - Reset asserted [GC:G0 G54 G17 G21 G90 G94 G49 G98 G50 M5 M9 T0 F0 S0.] [G54:0.000,0.000,0.000] [G55:0.000,0.000,0.000] [G56:0.000,0.000,0.000] [G57:0.000,0.000,0.000] [G58:0.000,0.000,0.000] [G59:0.000,0.000,0.000] [G59.1:0.000,0.000,0.000] [G59.2:0.000,0.000,0.000] [G59.3:0.000,0.000,0.000] [G28:0.000,0.000,0.000] [G30:0.000,0.000,0.000] [G92:0.000,0.000,0.000] [TLO:0.000,0.000,0.000] [PRB:0.000,0.000,0.000:0] [GC:G0 G54 G17 G21 G90 G94 G49 G98 G50 M5 M9 T0 F0 S0.] [VER:1.1f.20220325:] [OPT:VNMSL,35,1024,3,0] [NEWOPT:ENUMS,RT+,TC,SED] [FIRMWARE:grblHAL] [NVS STORAGE:*FLASH] [DRIVER:STM32H743] [DRIVER VERSION:220325] [BOARD:grblHAL reference map] [AUX IO:3,4,0,0] $0=10.0 $1=25 $2=0 $3=0 $4=7 $5=0 $6=0 $7=0 $10=511 $11=0.010 $12=0.002 $13=0 $14=0 $15=0 $16=0 $17=0 $18=0 $19=0 $20=0 $21=0 $22=0 $23=0 $24=25.0 $25=500.0 $26=250 $27=1.000 $28=0.100 $29=0.0 $30=1000.000 $31=0.000 $32=0 $33=5000.0 $34=0.0 $35=0.0 $36=100.0 $37=0 $39=1 $40=0 $43=1 $44=4 $45=3 $46=0 $62=0 $63=2 $64=0 $65=0 $100=250.000 $101=250.000 $102=250.000 $110=500.000 $111=500.000 $112=500.000 $120=10.000 $121=10.000 $122=10.000 $130=200.000 $131=200.000 $132=200.000 $341=0 $342=30.0 $343=25.0 $344=200.0 $345=100.0 $370=0 $372=0 $384=0 [GC:G0 G54 G17 G21 G90 G94 G49 G98 G50 M5 M9 T0 F0 S0.] [G54:0.000,0.000,0.000] [G55:0.000,0.000,0.000] [G56:0.000,0.000,0.000] [G57:0.000,0.000,0.000] [G58:0.000,0.000,0.000] [G59:0.000,0.000,0.000] [G59.1:0.000,0.000,0.000] [G59.2:0.000,0.000,0.000] [G59.3:0.000,0.000,0.000] [G28:0.000,0.000,0.000] [G30:0.000,0.000,0.000] [G92:0.000,0.000,0.000] [TLO:0.000,0.000,0.000] [PRB:0.000,0.000,0.000:0] [GC:G0 G54 G17 G21 G90 G94 G49 G98 G50 M5 M9 T0 F0 S0.] $X error:18 - Reset asserted $X error:18 - Reset asserted $X error:18 - Reset asserted $X error:18 - Reset asserted $X error:18 - Reset asserted

    opened by hankecnc 14
  • hi, hi, Terje, do you have plans to make stm32h7 drivers?

    hi, hi, Terje, do you have plans to make stm32h7 drivers?

    hi, Terje Io, do you have a plan to make stm32h7 driver? I have made grbl circuit board of esp32 for sale, aimed at beginner CNC enthusiasts (they use aluminum plate or aluminum profile to make small desktop cnc), I want to make one more This is a circuit board for professional CNC enthusiasts (they use castings). I think STM32H743VIT6 is very good. This chip is very popular and easy to buy. But I can't program. So do you have a plan to make stm32h7? I will wait

    opened by hankecnc 14
  • What is the block diagram of connecting a new plug-in?

    What is the block diagram of connecting a new plug-in?

    I've written a basic plugin using the my_plugin example, as well as fans.c as a reference.

    On a state change, it should set aux output pins high or low, depending on the state.

    I have added an enable define to my_machine.h and I had added a line to the driver.c to include the header file for my plugin. In the header file I call the init function. The plugin never seems to be called.

    Is there was a way via the serial console to see what plugins are loaded and their version (I copied the version reporting from fan.c). I'm fairly certain the plugin is not being triggered, but I am unable to determine why.

    Any guidance would be appreciated.

    Thanks.

    opened by 5ocworkshop 13
  • modify acceleration according to work

    modify acceleration according to work

    Is it possible to modify the acceleration according to the job (something like the modifiers for feed, rapid, rpm) does it require more aggressive or less aggressive acceleration? Use trochoidal mechanized, there greater acceleration decreases working time. I also do pcb plate milling, lower acceleration protects the 0.1mm tip (jerk)

    opened by MARIOBASZ 13
  • MKS SBASE Set current issue

    MKS SBASE Set current issue

    There is an error in the configuration of the motor current at routine "mks_set_current" in the file mks_sbase.c The correct line is: static const uint8_t wiper_registers[] = {0x00, 0x01, 0x06, 0x07};

    opened by Lopezno68 9
  • Commit tool table NVS fix.

    Commit tool table NVS fix.

    When I went to compile with the tool table enabled, initially it seemed to break the build. The changes below seemed to fix things for me and allow me to test the functionality.

    This was on the teensy4.1 driver with my GRBLHAL2000 board, but I think this would apply to all drivers.

    opened by andrewmarles 8
  • PlatformIO updated teensy platform from 4.12 to 4.13 and now getting compile errors from the SD modules

    PlatformIO updated teensy platform from 4.12 to 4.13 and now getting compile errors from the SD modules

    PlatformIO prompted me to update my teensy platform from 4.12 to 4.13.

    Now I am getting errors on my compile that I wasn't getting previously (haven't updated any files and don't use the SD module).

    I see there is some history around isssues with the SD module compiling for the teensy but since it pretty much worked out of the box before, I'm a bit confused what has changed or how to resolve it.

    The errors:

    Compiling .pio\build\teensy41\lib9f7\uSDFS\utility\sd_spi.c.o
    In file included from .pio\libdeps\teensy41\MSC-non-blocking\src\msc.h:31:0,
                     from .pio\libdeps\teensy41\MSC-non-blocking\src\MassStorageHost.cpp:31:
    C:\Users\xxxxx\.platformio\packages\framework-arduinoteensy\libraries\USBHost_t36/USBHost_t36.h:2045:2: error: 'msSCSICapacity_t' does not name a type
      msSCSICapacity_t msCapacity;
      ^
    C:\Users\xxxxx\.platformio\packages\framework-arduinoteensy\libraries\USBHost_t36/USBHost_t36.h:2046:2: error: 'msInquiryResponse_t' does not name a type  
      msInquiryResponse_t msInquiry;
      ^
    C:\Users\xxxxx\.platformio\packages\framework-arduinoteensy\libraries\USBHost_t36/USBHost_t36.h:2047:2: error: 'msRequestSenseResponse_t' does not name a type
      msRequestSenseResponse_t msSense;
      ^
    C:\Users\xxxxx\.platformio\packages\framework-arduinoteensy\libraries\USBHost_t36/USBHost_t36.h:2048:2: error: 'msDriveInfo_t' does not name a type        
      msDriveInfo_t msDriveInfo;
      ^
    C:\Users\xxxxx\.platformio\packages\framework-arduinoteensy\libraries\USBHost_t36/USBHost_t36.h:2067:31: error: 'msSCSICapacity_t' has not been declared   
      uint8_t msReadDeviceCapacity(msSCSICapacity_t * const Capacity);
                                   ^
    compilation terminated due to -fmax-errors=5.
    In file included from .pio\libdeps\teensy41\MSC-non-blocking\src\msc.h:31:0,
                     from .pio\libdeps\teensy41\MSC-non-blocking\src\MassStorageDriver.cpp:29:
    C:\Users\xxxxx\.platformio\packages\framework-arduinoteensy\libraries\USBHost_t36/USBHost_t36.h:2045:2: error: 'msSCSICapacity_t' does not name a type     
      msSCSICapacity_t msCapacity;
      ^
    C:\Users\xxxxx\.platformio\packages\framework-arduinoteensy\libraries\USBHost_t36/USBHost_t36.h:2046:2: error: 'msInquiryResponse_t' does not name a type  
      msInquiryResponse_t msInquiry;
      ^
    C:\Users\xxxxx\.platformio\packages\framework-arduinoteensy\libraries\USBHost_t36/USBHost_t36.h:2047:2: error: 'msRequestSenseResponse_t' does not name a type
      msRequestSenseResponse_t msSense;
      ^
    C:\Users\xxxxx\.platformio\packages\framework-arduinoteensy\libraries\USBHost_t36/USBHost_t36.h:2048:2: error: 'msDriveInfo_t' does not name a type        
      msDriveInfo_t msDriveInfo;
      ^
    C:\Users\xxxxx\.platformio\packages\framework-arduinoteensy\libraries\USBHost_t36/USBHost_t36.h:2067:31: error: 'msSCSICapacity_t' has not been declared   
      uint8_t msReadDeviceCapacity(msSCSICapacity_t * const Capacity);
                                   ^
    compilation terminated due to -fmax-errors=5.
    Compiling .pio\build\teensy41\libd78\lwip\api\api_lib.c.o
    In file included from .pio\libdeps\teensy41\MSC-non-blocking\src/msc.h:31:0,
                     from .pio\libdeps\teensy41\uSDFS\src\utility\sd_msc.cpp:41:
    C:\Users\xxxxx\.platformio\packages\framework-arduinoteensy\libraries\USBHost_t36/USBHost_t36.h:2045:2: error: 'msSCSICapacity_t' does not name a type     
      msSCSICapacity_t msCapacity;
      ^
    C:\Users\xxxxx\.platformio\packages\framework-arduinoteensy\libraries\USBHost_t36/USBHost_t36.h:2046:2: error: 'msInquiryResponse_t' does not name a type
      msInquiryResponse_t msInquiry;
      ^
    C:\Users\xxxxx\.platformio\packages\framework-arduinoteensy\libraries\USBHost_t36/USBHost_t36.h:2047:2: error: 'msRequestSenseResponse_t' does not name a type
      msRequestSenseResponse_t msSense;
      ^
    C:\Users\xxxxx\.platformio\packages\framework-arduinoteensy\libraries\USBHost_t36/USBHost_t36.h:2048:2: error: 'msDriveInfo_t' does not name a type        
      msDriveInfo_t msDriveInfo;
      ^
    C:\Users\xxxxx\.platformio\packages\framework-arduinoteensy\libraries\USBHost_t36/USBHost_t36.h:2067:31: error: 'msSCSICapacity_t' has not been declared   
      uint8_t msReadDeviceCapacity(msSCSICapacity_t * const Capacity);
                                   ^
    compilation terminated due to -fmax-errors=5.
    *** [.pio\build\teensy41\lib5ae\MSC-non-blocking\MassStorageHost.cpp.o] Error 1
    *** [.pio\build\teensy41\lib5ae\MSC-non-blocking\MassStorageDriver.cpp.o] Error 1
    *** [.pio\build\teensy41\lib9f7\uSDFS\utility\sd_msc.cpp.o] Error 1
    =============================================================== [FAILED] Took 4.48 seconds ===============================================================
    
    opened by 5ocworkshop 8
  • SAM3X8E Ethernet

    SAM3X8E Ethernet

    Is it possible to connect grblHal with the Arduino Due board via Ethernet, and improve electrical noise problems? Ethernet is not in the SAM3X folder. Is Bluetooth a good option for electrical noise?

    opened by MARIOBASZ 0
  • REQ: Increase the ganged axis homing offset adjustment from +/- 2mm to +/- 10mm t support larger machines

    REQ: Increase the ganged axis homing offset adjustment from +/- 2mm to +/- 10mm t support larger machines

    I have a fairly large machine, my X is over 1100mm of travel. In going through detailed calibration after moving house and taking the machine apart, I discovered I needed to adjust my ganged Y axis homing offset to -5 mm to get back in to square. The firmware currently limits that value to +/- 2mm. It appears a lot of my error is derived from hand made sensor mount brackets.

    It would be good to support a wider range of values, I suggest +/- 10.xxx mm for that variable to allow for errors that may exist in larger machines or and made machines/sensor brackets.

    While there is the potential to rack the gantry if a high value is used here incorrectly, there are various ways a person can rack or damage a machine if they set incorrect values and this is largely a one-time calibration value that is not in the normal workflow so I can't think of any reason not to increase the allowable range.

    https://github.com/grblHAL/core/blob/e3e74847311df5c772754b61d817c21f48b81dfb/settings.c#L508

     { Setting_AxisAutoSquareOffset, Group_Axis0, "?-axis dual axis offset", "mm", Format_Decimal, "-0.000", "-10", "10", Setting_IsExtendedFn, set_axis_setting, get_float, is_setting_available },
    

    (Thanks to Andrew Marles for making be a quite build to test it).

    opened by 5ocworkshop 0
  • How often an Aux input can be used?

    How often an Aux input can be used?

    I see in the code there is support for Aux Inputs, I want to know what would be the case where I would need an Aux input in the controller. For Aux outputs, maybe someone will use them to turn on extra stuff using some standard G-code but for Aux input what can I use them for?

    opened by muhammadelmogy 4
  • $37 - Stepper deenergize mask  dont work

    $37 - Stepper deenergize mask dont work

    Hello im try to disable deenergize in some axis, but only works in all 3 axis, is the mask work correct? I use iMXRT1062 with T41U5XBB board. and enable pin is NOT the same in all axis.

    Previously i use smoothieware firmware and i have a M18 M17 code to disable and enable steppers (like marlin).Because i like to fast move my belt machine by hand. If all steppers are energized ,how i cant enable/disable it ? (previosly i use cncjs with a button with Mcode) thanks

    opened by gendebeat 2
  • G5 cubic spline

    G5 cubic spline

    https://github.com/grblHAL/core/wiki/Changes-from-grbl-1.1

    I think fact that G5 supported should be reflected there. My dream is to see G5.1 and G5.2 one day for Quadratic/NURBS Spline ;)

    opened by kimstik 4
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