PiBot CNC Pendant V4.0 For FluidNC

Package Contents:

1. Pendant V4 Main unit × 1 

2. RJ12 module × 1 

3. RJ12 communicaation cable (1m) × 1 

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Battery: Flat-top 18650 , we use the SONY VCT5 or VCT6 for test, please make clear the + - (Not included in the package)

Since the new versions of both FluidDial and ESP3D firmware support Wi-Fi mode, please use Wi-Fi mode for wireless connection if needed. Starting from June 22, 2026, the following items will no longer be included with shipments.

x. Bluetooth TX RX module × 2 (Not included after 2026.6.22)

x. Bluetooth-to-mainboard adapter module × 1 (Not included after 2026.6.22)

What is it

We have tried other touch screens and encoders, but they did not meet our expectations. Therefore, we designed and produced this product ourselves, adding multiple features to achieve the desired performance. The electronics were developed by PiBot, the firmware was created by Luc (author of esp-3d), and the casing was designed by Liz.W from the United States. During development, we optimized the encoder's tactile response and enhanced the capacitive touch screen, pairing it with a compact enclosure for an exceptional user experience. It not only supports our custom firmware but is also compatible with fluiddial.

The product comes fully assembled and pre-installed with firmware set to 115200 baud rate, making it ready to use right out of the box.

When connecting RJ12, never insert the battery as it may cause voltage imbalance and easily burn out the chip.

Hardware Features:

1. Compatible with V4.7, V4.9 mainboards, and other FluidNC-based mainboards on the market

2. Capacitive touch screen

3. Industrial-grade encoder, specially optimized in our firmware

4. RJ12 wired connection support

5. Independent Bluetooth Module Connection

6. Supports 18650 flat-top batteries with power level display and charging (highly energy-efficient with extended standby time, depending on battery capacity)

7. Built-in speaker

8. Potentiometer knob

9. Band switch

10. Three independent switches

11. Dual independent PCB design, allowing IO expansion

12. Ergonomically casing designed

Firmware Features:

1. Adapted for FluidDial's cyd button version, using ESP32 Flash for easy burning in one key.

2. PiBot UI Firmware co-developed with Luc, author of Esp3D (coming soon, supports one-click upgrade via TF card)

Software Compatibility:

1. Compatible with FluidNC

2. Compatible with GRBL HAL (coming soon)

(Note: Due to GPIO25.27 port usage, it cannot be used simultaneously with OLED0.96.)

How It Works

Overview

1. Hardware Connect

A. RJ12 Wired connection to the V4.9 V4.7 mainboard

B. Independent Bluetooth module Connect to the 4.9-4.7 mainboard

Before use the Bluetooth, your need pair first.

Please refer to the Bluetooth pairing tutorial on our website： pibot.com

C. Wired Connection Mode via an IO Expander

2. Firmware Upload

We offer several firmware options with a simple upload process:

0. Esp32 Upload Tools

1. Factory test firmware: For testing buttons, knobs, touch screen, and speaker functionality

2. FluidNdial firmware (115200 baud): Supports both wired and Bluetooth modes (Bluetooth only supports 115200 baud)

3. Fluiddial firmware (1,000,000 baud): For higher-speed wired communication

4. PiBot ESP3D firmware (coming soon)


Step 0 Download the relevant files all in one
documents：you can find it on our website: pibot.com

Step 1: Unplug the Bluetooth module

Step 2:Push the power switch to the "ON" position

Step 3: then Insert the USB cable

Step 4: Open the ESP32 Flash Tool, select ESP32 as the target, and choose "esp32" and "Development" mode

Step 5: Select one of the firmware to download, and set the offset address to 0x0, then press start

Step 6: After "......" appears, press and hold the BOOT button for 3-5 seconds, then release

Step 7: Wait for the process to complete

3. Software Configuration

1. Compatible with FluidNC v3.9.7 and above

- YAML configuration file Example：you can find it on our website: pibot.com


Bluetooth Baudrate 115200

CODE

# Begin Pendant
uart2:
txd_pin: gpio.27
rxd_pin: gpio.25
rts_pin: NO_PIN
cts_pin: NO_PIN
baud: 115200
mode: 8N1

RJ12 Baudrate 100000

CODE

# Begin Pendant
uart2:
txd_pin: gpio.27
rxd_pin: gpio.25
rts_pin: NO_PIN
cts_pin: NO_PIN
baud: 1000000
mode: 8N1


2. PiBot ESP3D firmware Supports GRBL HAL AND FluidNC ( coming soon )

videos - test - you can find it on our website: pibot.com

Parameters & Dimensions

Weight: 365 grams

Size: 165 × 60 mm

Screen Size: 76 × 55 mm

Battery: Flat-top 18650 (not included in the package)

Only for Developments

Power Chips Indicator button OVEWVIEW PICTURE（B）can recognize long press and short press operations. When the button is not needed, leave PIN5 floating.

1. A button press lasting longer than 50ms but shorter than 2s is considered a short press, which will turn on the power level indicator and boost output.

2. A button press lasting longer than 2s is considered a long press, which will turn the LED light on or off.

3. Button presses shorter than 50ms will not trigger any response.

4. Two consecutive short presses within 1s will turn off the boost output, power level indicator, and LED light.


STL File including:

1 x top case is required

2 x bottom case is required

3 x buttons are required

4 x spaceers are required

1 x potentiometer knob is required

1 x band switch knob is required

STL Documents：you can find it on our website: pibot.com

Trouble shoot

If the Pendant is connected to the main board and works,

and the STM32 expander is connected to the expansion board and works,

but the pendant has no signal when the main board is connected to the expansion board and then to the pendant,

simply swapping these two RX and TX wires will resolve the issue.

These PH2.0 connector cables are inherently designed for flexible configuration—simply pry the latch with a pin to release them.

More Infortion please contact us