====== TMC5160 V5 — Complete 4-Axis YAML Examples ======

<WRAP round info 60%>
Every file below is a **complete, ready-to-load FluidNC configuration** for a 4-driver machine — **X / Y1 / Y2 / Z** (a dual-Y gantry), with the **OLED display enabled**. Click the file name to download it. These are starting points, not finished machine configs.
</WRAP>

===== Before you use any of these =====

  * **Pick the file that matches BOTH your mainboard AND your wiring mode.** The four connector positions use the same I2SO numbers on all four mainboards, but the limit-switch, I2C and bus GPIOs differ per board.
  * **``steps_per_mm`` is a placeholder (800).** Calculate it from your motor step angle, microstepping and mechanics.
  * **Limit pins** follow each mainboard's own test YAML. Positions with no documented endstop are set to ``NO_PIN`` — set your own before enabling homing.
  * **In Normal mode**, current and microstepping come from the DIP switch on the driver board, *not* from the YAML.
  * **In the two SPI modes**, current and microstepping come from the ``tmc_5160`` block. Set ``run_amps`` to your motor's rating — do not leave the 1.2 A placeholder.
  * **In the two SPI modes**, set the driver board's Logic voltage selection to **3.3 V** so it matches the SPI bus level.

===== OLED and pendant share pins on V4.96 Pro and V4.7B =====

<WRAP round important 100%>
On **V4.96 Pro** and **V4.7B**, the OLED I2C bus (``gpio.27`` / ``gpio.25``) uses the **same two pins** as the RJ12 pendant UART2. You can run the OLED **or** a pendant, never both at once. Those files ship with the **OLED enabled** and the pendant block commented out, with instructions inside the file for swapping.

On **V5.88 Ultra** and **V5.77 Carrier** the OLED uses ``gpio.14`` / ``gpio.13``, which is independent of UART2 (``gpio.0`` / ``gpio.35``), so those files have the OLED **and** the pendant enabled together.
</WRAP>

[[pibot_cnc_laser_series:silentstep_tmc5160_v5:start|← Back to the TMC5160 V5 manual]]

----

===== V5.88 Ultra =====

==== Normal / Standalone mode ====

<file yaml v588-xyyz-tmc5160v5-normal.yaml>
board: V588 ULTRA
name: XYYZ TMC5160 V5 - Normal / Standalone mode (step-dir-enable only)

# ---------------------------------------------------------------
# PiBot SilentStep TMC5160 V5  +  PiBot V5.88 Ultra
# Mode: Normal / Standalone mode (step-dir-enable only)
# Axes: X / Y1 / Y2 / Z  (dual-Y gantry, 4 drivers)
#
# Before use, set your own: steps_per_mm, travel, limit pins, homing direction.
# Limit pins follow this board's own test YAML; NO_PIN where none is documented.
# In this mode current and microsteps come from the DIP switch, not this file.
# ---------------------------------------------------------------

stepping:
  engine: I2S_STATIC
  idle_ms: 250
  pulse_us: 4
  dir_delay_us: 0
  disable_delay_us: 0
  segments: 12

axes:
  shared_stepper_disable_pin: NO_PIN
  x:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # X - connector 1
      limit_neg_pin: gpio.42:low
      limit_pos_pin: gpio.41:low
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      standard_stepper:
        step_pin: I2SO.2
        direction_pin: I2SO.1
        disable_pin: I2SO.0

  y:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # Y1 - connector 2
      limit_neg_pin: gpio.40:low
      limit_pos_pin: gpio.39:low
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      standard_stepper:
        step_pin: I2SO.5
        direction_pin: I2SO.4
        disable_pin: I2SO.7

    motor1:                    # Y2 - connector 3
      limit_neg_pin: gpio.38:low
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      standard_stepper:
        step_pin: I2SO.10
        direction_pin: I2SO.9
        disable_pin: I2SO.8

  z:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # Z - connector 4
      limit_neg_pin: gpio.37:low
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      standard_stepper:
        step_pin: I2SO.13
        direction_pin: I2SO.12
        disable_pin: I2SO.15

i2so:
  bck_pin: gpio.16
  data_pin: gpio.17
  ws_pin: gpio.18

spi:
  miso_pin: gpio.2
  mosi_pin: gpio.1
  sck_pin: gpio.21

sdcard:
  card_detect_pin: NO_PIN
  cs_pin: gpio.9

# ---- OLED display ----
i2c0:
  sda_pin: gpio.14
  scl_pin: gpio.13

oled:
  i2c_num: 0
  i2c_address: 60
  width: 128
  height: 64
  radio_delay_ms: 1000

# ---- Pendant / I/O Expander (UART2) ----
# Independent of the OLED on this board; delete if unused.
uart2:
  txd_pin: gpio.0
  rxd_pin: gpio.35
  rts_pin: NO_PIN
  cts_pin: NO_PIN
  baud: 1000000
  mode: 8N1

uart_channel2:
  report_interval_ms: 75
  uart_num: 2

start:
  must_home: false
</file>

==== SPI Daisy Chain mode ====

<file yaml v588-xyyz-tmc5160v5-daisy.yaml>
board: V588 ULTRA
name: XYYZ TMC5160 V5 - SPI Daisy Chain mode

# ---------------------------------------------------------------
# PiBot SilentStep TMC5160 V5  +  PiBot V5.88 Ultra
# Mode: SPI Daisy Chain mode
# Axes: X / Y1 / Y2 / Z  (dual-Y gantry, 4 drivers)
#
# Before use, set your own: steps_per_mm, travel, limit pins, homing direction.
# Limit pins follow this board's own test YAML; NO_PIN where none is documented.
# In this mode current and microsteps come from the tmc_5160 blocks below.
# Set each driver board Logic voltage selection to 3.3V to match the SPI bus.
# ---------------------------------------------------------------

stepping:
  engine: I2S_STATIC
  idle_ms: 250
  pulse_us: 4
  dir_delay_us: 0
  disable_delay_us: 0
  segments: 12

axes:
  shared_stepper_disable_pin: NO_PIN
  x:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # X - connector 1
      limit_neg_pin: gpio.42:low
      limit_pos_pin: gpio.41:low
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      tmc_5160:
        r_sense_ohms: 0.1
        run_amps: 1.2          # set to YOUR motor rating
        hold_amps: 0.5
        microsteps: 16
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: CoolStep
        homing_mode: CoolStep
        use_enable: false
        cs_pin: i2so.3       # daisy chain: CS on first driver only
        step_pin: I2SO.2
        direction_pin: I2SO.1
        disable_pin: I2SO.0
        spi_index: 1

  y:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # Y1 - connector 2
      limit_neg_pin: gpio.40:low
      limit_pos_pin: gpio.39:low
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      tmc_5160:
        r_sense_ohms: 0.1
        run_amps: 1.2          # set to YOUR motor rating
        hold_amps: 0.5
        microsteps: 16
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: CoolStep
        homing_mode: CoolStep
        use_enable: false
#       cs_pin: i2so.6       # not used in daisy chain
        step_pin: I2SO.5
        direction_pin: I2SO.4
        disable_pin: I2SO.7
        spi_index: 2

    motor1:                    # Y2 - connector 3
      limit_neg_pin: gpio.38:low
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      tmc_5160:
        r_sense_ohms: 0.1
        run_amps: 1.2          # set to YOUR motor rating
        hold_amps: 0.5
        microsteps: 16
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: CoolStep
        homing_mode: CoolStep
        use_enable: false
#       cs_pin: i2so.11       # not used in daisy chain
        step_pin: I2SO.10
        direction_pin: I2SO.9
        disable_pin: I2SO.8
        spi_index: 3

  z:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # Z - connector 4
      limit_neg_pin: gpio.37:low
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      tmc_5160:
        r_sense_ohms: 0.1
        run_amps: 1.2          # set to YOUR motor rating
        hold_amps: 0.5
        microsteps: 16
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: CoolStep
        homing_mode: CoolStep
        use_enable: false
#       cs_pin: i2so.14       # not used in daisy chain
        step_pin: I2SO.13
        direction_pin: I2SO.12
        disable_pin: I2SO.15
        spi_index: 4

i2so:
  bck_pin: gpio.16
  data_pin: gpio.17
  ws_pin: gpio.18

spi:
  miso_pin: gpio.2
  mosi_pin: gpio.1
  sck_pin: gpio.21

sdcard:
  card_detect_pin: NO_PIN
  cs_pin: gpio.9

# ---- OLED display ----
i2c0:
  sda_pin: gpio.14
  scl_pin: gpio.13

oled:
  i2c_num: 0
  i2c_address: 60
  width: 128
  height: 64
  radio_delay_ms: 1000

# ---- Pendant / I/O Expander (UART2) ----
# Independent of the OLED on this board; delete if unused.
uart2:
  txd_pin: gpio.0
  rxd_pin: gpio.35
  rts_pin: NO_PIN
  cts_pin: NO_PIN
  baud: 1000000
  mode: 8N1

uart_channel2:
  report_interval_ms: 75
  uart_num: 2

start:
  must_home: false
</file>

==== SPI Independent mode ====

<file yaml v588-xyyz-tmc5160v5-independent.yaml>
board: V588 ULTRA
name: XYYZ TMC5160 V5 - SPI Independent mode

# ---------------------------------------------------------------
# PiBot SilentStep TMC5160 V5  +  PiBot V5.88 Ultra
# Mode: SPI Independent mode
# Axes: X / Y1 / Y2 / Z  (dual-Y gantry, 4 drivers)
#
# Before use, set your own: steps_per_mm, travel, limit pins, homing direction.
# Limit pins follow this board's own test YAML; NO_PIN where none is documented.
# In this mode current and microsteps come from the tmc_5160 blocks below.
# Set each driver board Logic voltage selection to 3.3V to match the SPI bus.
# ---------------------------------------------------------------

stepping:
  engine: I2S_STATIC
  idle_ms: 250
  pulse_us: 4
  dir_delay_us: 0
  disable_delay_us: 0
  segments: 12

axes:
  shared_stepper_disable_pin: NO_PIN
  x:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # X - connector 1
      limit_neg_pin: gpio.42:low
      limit_pos_pin: gpio.41:low
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      tmc_5160:
        r_sense_ohms: 0.1
        run_amps: 1.2          # set to YOUR motor rating
        hold_amps: 0.5
        microsteps: 16
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: CoolStep
        homing_mode: CoolStep
        use_enable: false
        cs_pin: i2so.3       # independent: own CS per driver
        step_pin: I2SO.2
        direction_pin: I2SO.1
        disable_pin: I2SO.0
        spi_index: -1          # always -1 in independent mode

  y:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # Y1 - connector 2
      limit_neg_pin: gpio.40:low
      limit_pos_pin: gpio.39:low
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      tmc_5160:
        r_sense_ohms: 0.1
        run_amps: 1.2          # set to YOUR motor rating
        hold_amps: 0.5
        microsteps: 16
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: CoolStep
        homing_mode: CoolStep
        use_enable: false
        cs_pin: i2so.6       # independent: own CS per driver
        step_pin: I2SO.5
        direction_pin: I2SO.4
        disable_pin: I2SO.7
        spi_index: -1          # always -1 in independent mode

    motor1:                    # Y2 - connector 3
      limit_neg_pin: gpio.38:low
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      tmc_5160:
        r_sense_ohms: 0.1
        run_amps: 1.2          # set to YOUR motor rating
        hold_amps: 0.5
        microsteps: 16
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: CoolStep
        homing_mode: CoolStep
        use_enable: false
        cs_pin: i2so.11       # independent: own CS per driver
        step_pin: I2SO.10
        direction_pin: I2SO.9
        disable_pin: I2SO.8
        spi_index: -1          # always -1 in independent mode

  z:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # Z - connector 4
      limit_neg_pin: gpio.37:low
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      tmc_5160:
        r_sense_ohms: 0.1
        run_amps: 1.2          # set to YOUR motor rating
        hold_amps: 0.5
        microsteps: 16
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: CoolStep
        homing_mode: CoolStep
        use_enable: false
        cs_pin: i2so.14       # independent: own CS per driver
        step_pin: I2SO.13
        direction_pin: I2SO.12
        disable_pin: I2SO.15
        spi_index: -1          # always -1 in independent mode

i2so:
  bck_pin: gpio.16
  data_pin: gpio.17
  ws_pin: gpio.18

spi:
  miso_pin: gpio.2
  mosi_pin: gpio.1
  sck_pin: gpio.21

sdcard:
  card_detect_pin: NO_PIN
  cs_pin: gpio.9

# ---- OLED display ----
i2c0:
  sda_pin: gpio.14
  scl_pin: gpio.13

oled:
  i2c_num: 0
  i2c_address: 60
  width: 128
  height: 64
  radio_delay_ms: 1000

# ---- Pendant / I/O Expander (UART2) ----
# Independent of the OLED on this board; delete if unused.
uart2:
  txd_pin: gpio.0
  rxd_pin: gpio.35
  rts_pin: NO_PIN
  cts_pin: NO_PIN
  baud: 1000000
  mode: 8N1

uart_channel2:
  report_interval_ms: 75
  uart_num: 2

start:
  must_home: false
</file>

----

===== V4.96 Pro =====

==== Normal / Standalone mode ====

<file yaml v496-xyyz-tmc5160v5-normal.yaml>
board: V49PB V496PRO
name: XYYZ TMC5160 V5 - Normal / Standalone mode (step-dir-enable only)

# ---------------------------------------------------------------
# PiBot SilentStep TMC5160 V5  +  PiBot V4.96 Pro
# Mode: Normal / Standalone mode (step-dir-enable only)
# Axes: X / Y1 / Y2 / Z  (dual-Y gantry, 4 drivers)
#
# Before use, set your own: steps_per_mm, travel, limit pins, homing direction.
# Limit pins follow this board's own test YAML; NO_PIN where none is documented.
# In this mode current and microsteps come from the DIP switch, not this file.
# ---------------------------------------------------------------

stepping:
  engine: I2S_STATIC
  idle_ms: 250
  pulse_us: 4
  dir_delay_us: 0
  disable_delay_us: 0
  segments: 12

axes:
  shared_stepper_disable_pin: NO_PIN
  x:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # X - connector 1
      limit_neg_pin: gpio.33:low
      limit_pos_pin: gpio.32:low
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      standard_stepper:
        step_pin: I2SO.2
        direction_pin: I2SO.1
        disable_pin: I2SO.0

  y:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # Y1 - connector 2
      limit_neg_pin: gpio.35:low
      limit_pos_pin: gpio.34:low
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      standard_stepper:
        step_pin: I2SO.5
        direction_pin: I2SO.4
        disable_pin: I2SO.7

    motor1:                    # Y2 - connector 3
      limit_neg_pin: NO_PIN
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      standard_stepper:
        step_pin: I2SO.10
        direction_pin: I2SO.9
        disable_pin: I2SO.8

  z:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # Z - connector 4
      limit_neg_pin: NO_PIN
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      standard_stepper:
        step_pin: I2SO.13
        direction_pin: I2SO.12
        disable_pin: I2SO.15

i2so:
  bck_pin: gpio.22
  data_pin: gpio.21
  ws_pin: gpio.17

spi:
  miso_pin: gpio.19
  mosi_pin: gpio.23
  sck_pin: gpio.18

sdcard:
  card_detect_pin: NO_PIN
  cs_pin: gpio.5

# ---- OLED display ----
i2c0:
  sda_pin: gpio.27
  scl_pin: gpio.25

oled:
  i2c_num: 0
  i2c_address: 60
  width: 128
  height: 64
  radio_delay_ms: 1000

# ---- Pendant / I/O Expander (UART2) - DISABLED ----
# On this board UART2 uses gpio.27 / gpio.25, the SAME pins as the OLED above.
# You can run the OLED or the pendant, never both. The OLED is enabled here.
# To use a pendant instead: delete the i2c0 and oled blocks, then uncomment:
# uart2:
#   txd_pin: gpio.27
#   rxd_pin: gpio.25
#   rts_pin: NO_PIN
#   cts_pin: NO_PIN
#   baud: 1000000
#   mode: 8N1
# uart_channel2:
#   report_interval_ms: 75
#   uart_num: 2

start:
  must_home: false
</file>

==== SPI Daisy Chain mode ====

<file yaml v496-xyyz-tmc5160v5-daisy.yaml>
board: V49PB V496PRO
name: XYYZ TMC5160 V5 - SPI Daisy Chain mode

# ---------------------------------------------------------------
# PiBot SilentStep TMC5160 V5  +  PiBot V4.96 Pro
# Mode: SPI Daisy Chain mode
# Axes: X / Y1 / Y2 / Z  (dual-Y gantry, 4 drivers)
#
# Before use, set your own: steps_per_mm, travel, limit pins, homing direction.
# Limit pins follow this board's own test YAML; NO_PIN where none is documented.
# In this mode current and microsteps come from the tmc_5160 blocks below.
# Set each driver board Logic voltage selection to 3.3V to match the SPI bus.
# ---------------------------------------------------------------

stepping:
  engine: I2S_STATIC
  idle_ms: 250
  pulse_us: 4
  dir_delay_us: 0
  disable_delay_us: 0
  segments: 12

axes:
  shared_stepper_disable_pin: NO_PIN
  x:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # X - connector 1
      limit_neg_pin: gpio.33:low
      limit_pos_pin: gpio.32:low
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      tmc_5160:
        r_sense_ohms: 0.1
        run_amps: 1.2          # set to YOUR motor rating
        hold_amps: 0.5
        microsteps: 16
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: CoolStep
        homing_mode: CoolStep
        use_enable: false
        cs_pin: i2so.3       # daisy chain: CS on first driver only
        step_pin: I2SO.2
        direction_pin: I2SO.1
        disable_pin: I2SO.0
        spi_index: 1

  y:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # Y1 - connector 2
      limit_neg_pin: gpio.35:low
      limit_pos_pin: gpio.34:low
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      tmc_5160:
        r_sense_ohms: 0.1
        run_amps: 1.2          # set to YOUR motor rating
        hold_amps: 0.5
        microsteps: 16
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: CoolStep
        homing_mode: CoolStep
        use_enable: false
#       cs_pin: i2so.6       # not used in daisy chain
        step_pin: I2SO.5
        direction_pin: I2SO.4
        disable_pin: I2SO.7
        spi_index: 2

    motor1:                    # Y2 - connector 3
      limit_neg_pin: NO_PIN
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      tmc_5160:
        r_sense_ohms: 0.1
        run_amps: 1.2          # set to YOUR motor rating
        hold_amps: 0.5
        microsteps: 16
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: CoolStep
        homing_mode: CoolStep
        use_enable: false
#       cs_pin: i2so.11       # not used in daisy chain
        step_pin: I2SO.10
        direction_pin: I2SO.9
        disable_pin: I2SO.8
        spi_index: 3

  z:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # Z - connector 4
      limit_neg_pin: NO_PIN
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      tmc_5160:
        r_sense_ohms: 0.1
        run_amps: 1.2          # set to YOUR motor rating
        hold_amps: 0.5
        microsteps: 16
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: CoolStep
        homing_mode: CoolStep
        use_enable: false
#       cs_pin: i2so.14       # not used in daisy chain
        step_pin: I2SO.13
        direction_pin: I2SO.12
        disable_pin: I2SO.15
        spi_index: 4

i2so:
  bck_pin: gpio.22
  data_pin: gpio.21
  ws_pin: gpio.17

spi:
  miso_pin: gpio.19
  mosi_pin: gpio.23
  sck_pin: gpio.18

sdcard:
  card_detect_pin: NO_PIN
  cs_pin: gpio.5

# ---- OLED display ----
i2c0:
  sda_pin: gpio.27
  scl_pin: gpio.25

oled:
  i2c_num: 0
  i2c_address: 60
  width: 128
  height: 64
  radio_delay_ms: 1000

# ---- Pendant / I/O Expander (UART2) - DISABLED ----
# On this board UART2 uses gpio.27 / gpio.25, the SAME pins as the OLED above.
# You can run the OLED or the pendant, never both. The OLED is enabled here.
# To use a pendant instead: delete the i2c0 and oled blocks, then uncomment:
# uart2:
#   txd_pin: gpio.27
#   rxd_pin: gpio.25
#   rts_pin: NO_PIN
#   cts_pin: NO_PIN
#   baud: 1000000
#   mode: 8N1
# uart_channel2:
#   report_interval_ms: 75
#   uart_num: 2

start:
  must_home: false
</file>

==== SPI Independent mode ====

<file yaml v496-xyyz-tmc5160v5-independent.yaml>
board: V49PB V496PRO
name: XYYZ TMC5160 V5 - SPI Independent mode

# ---------------------------------------------------------------
# PiBot SilentStep TMC5160 V5  +  PiBot V4.96 Pro
# Mode: SPI Independent mode
# Axes: X / Y1 / Y2 / Z  (dual-Y gantry, 4 drivers)
#
# Before use, set your own: steps_per_mm, travel, limit pins, homing direction.
# Limit pins follow this board's own test YAML; NO_PIN where none is documented.
# In this mode current and microsteps come from the tmc_5160 blocks below.
# Set each driver board Logic voltage selection to 3.3V to match the SPI bus.
# ---------------------------------------------------------------

stepping:
  engine: I2S_STATIC
  idle_ms: 250
  pulse_us: 4
  dir_delay_us: 0
  disable_delay_us: 0
  segments: 12

axes:
  shared_stepper_disable_pin: NO_PIN
  x:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # X - connector 1
      limit_neg_pin: gpio.33:low
      limit_pos_pin: gpio.32:low
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      tmc_5160:
        r_sense_ohms: 0.1
        run_amps: 1.2          # set to YOUR motor rating
        hold_amps: 0.5
        microsteps: 16
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: CoolStep
        homing_mode: CoolStep
        use_enable: false
        cs_pin: i2so.3       # independent: own CS per driver
        step_pin: I2SO.2
        direction_pin: I2SO.1
        disable_pin: I2SO.0
        spi_index: -1          # always -1 in independent mode

  y:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # Y1 - connector 2
      limit_neg_pin: gpio.35:low
      limit_pos_pin: gpio.34:low
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      tmc_5160:
        r_sense_ohms: 0.1
        run_amps: 1.2          # set to YOUR motor rating
        hold_amps: 0.5
        microsteps: 16
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: CoolStep
        homing_mode: CoolStep
        use_enable: false
        cs_pin: i2so.6       # independent: own CS per driver
        step_pin: I2SO.5
        direction_pin: I2SO.4
        disable_pin: I2SO.7
        spi_index: -1          # always -1 in independent mode

    motor1:                    # Y2 - connector 3
      limit_neg_pin: NO_PIN
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      tmc_5160:
        r_sense_ohms: 0.1
        run_amps: 1.2          # set to YOUR motor rating
        hold_amps: 0.5
        microsteps: 16
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: CoolStep
        homing_mode: CoolStep
        use_enable: false
        cs_pin: i2so.11       # independent: own CS per driver
        step_pin: I2SO.10
        direction_pin: I2SO.9
        disable_pin: I2SO.8
        spi_index: -1          # always -1 in independent mode

  z:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # Z - connector 4
      limit_neg_pin: NO_PIN
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      tmc_5160:
        r_sense_ohms: 0.1
        run_amps: 1.2          # set to YOUR motor rating
        hold_amps: 0.5
        microsteps: 16
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: CoolStep
        homing_mode: CoolStep
        use_enable: false
        cs_pin: i2so.14       # independent: own CS per driver
        step_pin: I2SO.13
        direction_pin: I2SO.12
        disable_pin: I2SO.15
        spi_index: -1          # always -1 in independent mode

i2so:
  bck_pin: gpio.22
  data_pin: gpio.21
  ws_pin: gpio.17

spi:
  miso_pin: gpio.19
  mosi_pin: gpio.23
  sck_pin: gpio.18

sdcard:
  card_detect_pin: NO_PIN
  cs_pin: gpio.5

# ---- OLED display ----
i2c0:
  sda_pin: gpio.27
  scl_pin: gpio.25

oled:
  i2c_num: 0
  i2c_address: 60
  width: 128
  height: 64
  radio_delay_ms: 1000

# ---- Pendant / I/O Expander (UART2) - DISABLED ----
# On this board UART2 uses gpio.27 / gpio.25, the SAME pins as the OLED above.
# You can run the OLED or the pendant, never both. The OLED is enabled here.
# To use a pendant instead: delete the i2c0 and oled blocks, then uncomment:
# uart2:
#   txd_pin: gpio.27
#   rxd_pin: gpio.25
#   rts_pin: NO_PIN
#   cts_pin: NO_PIN
#   baud: 1000000
#   mode: 8N1
# uart_channel2:
#   report_interval_ms: 75
#   uart_num: 2

start:
  must_home: false
</file>

----

===== V5.77 Carrier =====

<WRAP round tip 100%>V5.77 Carrier has no external SPI driver header, so only Normal (step/dir) mode applies.</WRAP>

==== Normal / Standalone mode ====

<file yaml v577-xyyz-tmc5160v5-normal.yaml>
board: V577 CARRIER
name: XYYZ TMC5160 V5 - Normal / Standalone mode (step-dir-enable only)

# ---------------------------------------------------------------
# PiBot SilentStep TMC5160 V5  +  PiBot V5.77 Carrier
# Mode: Normal / Standalone mode (step-dir-enable only)
# Axes: X / Y1 / Y2 / Z  (dual-Y gantry, 4 drivers)
#
# Before use, set your own: steps_per_mm, travel, limit pins, homing direction.
# Limit pins follow this board's own test YAML; NO_PIN where none is documented.
# In this mode current and microsteps come from the DIP switch, not this file.
# ---------------------------------------------------------------

stepping:
  engine: I2S_STATIC
  idle_ms: 250
  pulse_us: 4
  dir_delay_us: 0
  disable_delay_us: 0
  segments: 12

axes:
  shared_stepper_disable_pin: NO_PIN
  x:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # X - connector 1
      limit_neg_pin: gpio.42:low
      limit_pos_pin: gpio.41:low
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      standard_stepper:
        step_pin: I2SO.2
        direction_pin: I2SO.1
        disable_pin: I2SO.0

  y:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # Y1 - connector 2
      limit_neg_pin: gpio.40:low
      limit_pos_pin: gpio.39:low
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      standard_stepper:
        step_pin: I2SO.5
        direction_pin: I2SO.4
        disable_pin: I2SO.7

    motor1:                    # Y2 - connector 3
      limit_neg_pin: gpio.38:low
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      standard_stepper:
        step_pin: I2SO.10
        direction_pin: I2SO.9
        disable_pin: I2SO.8

  z:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # Z - connector 4
      limit_neg_pin: gpio.37:low
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      standard_stepper:
        step_pin: I2SO.13
        direction_pin: I2SO.12
        disable_pin: I2SO.15

i2so:
  bck_pin: gpio.16
  data_pin: gpio.17
  ws_pin: gpio.18

spi:
  miso_pin: gpio.2
  mosi_pin: gpio.1
  sck_pin: gpio.21

sdcard:
  card_detect_pin: NO_PIN
  cs_pin: gpio.9

# ---- OLED display ----
i2c0:
  sda_pin: gpio.14
  scl_pin: gpio.13

oled:
  i2c_num: 0
  i2c_address: 60
  width: 128
  height: 64
  radio_delay_ms: 1000

# ---- Pendant / I/O Expander (UART2) ----
# Independent of the OLED on this board; delete if unused.
uart2:
  txd_pin: gpio.0
  rxd_pin: gpio.35
  rts_pin: NO_PIN
  cts_pin: NO_PIN
  baud: 1000000
  mode: 8N1

uart_channel2:
  report_interval_ms: 75
  uart_num: 2

start:
  must_home: false
</file>

----

===== V4.7B =====

<WRAP round tip 100%>V4.7B has no external SPI driver header, so only Normal (step/dir) mode applies.</WRAP>

==== Normal / Standalone mode ====

<file yaml v47b-xyyz-tmc5160v5-normal.yaml>
board: V47B
name: XYYZ TMC5160 V5 - Normal / Standalone mode (step-dir-enable only)

# ---------------------------------------------------------------
# PiBot SilentStep TMC5160 V5  +  PiBot V4.7B
# Mode: Normal / Standalone mode (step-dir-enable only)
# Axes: X / Y1 / Y2 / Z  (dual-Y gantry, 4 drivers)
#
# Before use, set your own: steps_per_mm, travel, limit pins, homing direction.
# Limit pins follow this board's own test YAML; NO_PIN where none is documented.
# In this mode current and microsteps come from the DIP switch, not this file.
# ---------------------------------------------------------------

stepping:
  engine: I2S_STATIC
  idle_ms: 250
  pulse_us: 4
  dir_delay_us: 0
  disable_delay_us: 0
  segments: 12

axes:
  shared_stepper_disable_pin: NO_PIN
  x:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # X - connector 1
      limit_neg_pin: gpio.33:low
      limit_pos_pin: gpio.32:low
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      standard_stepper:
        step_pin: I2SO.2
        direction_pin: I2SO.1
        disable_pin: I2SO.0

  y:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # Y1 - connector 2
      limit_neg_pin: gpio.35:low
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      standard_stepper:
        step_pin: I2SO.5
        direction_pin: I2SO.4
        disable_pin: I2SO.7

    motor1:                    # Y2 - connector 3
      limit_neg_pin: gpio.34:low
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      standard_stepper:
        step_pin: I2SO.10
        direction_pin: I2SO.9
        disable_pin: I2SO.8

  z:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # Z - connector 4
      limit_neg_pin: gpio.39:low
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      standard_stepper:
        step_pin: I2SO.13
        direction_pin: I2SO.12
        disable_pin: I2SO.15

i2so:
  bck_pin: gpio.22
  data_pin: gpio.21
  ws_pin: gpio.17

spi:
  miso_pin: gpio.19
  mosi_pin: gpio.23
  sck_pin: gpio.18

sdcard:
  card_detect_pin: NO_PIN
  cs_pin: gpio.5

# ---- OLED display ----
i2c0:
  sda_pin: gpio.27
  scl_pin: gpio.25

oled:
  i2c_num: 0
  i2c_address: 60
  width: 128
  height: 64
  radio_delay_ms: 1000

# ---- Pendant / I/O Expander (UART2) - DISABLED ----
# On this board UART2 uses gpio.27 / gpio.25, the SAME pins as the OLED above.
# You can run the OLED or the pendant, never both. The OLED is enabled here.
# To use a pendant instead: delete the i2c0 and oled blocks, then uncomment:
# uart2:
#   txd_pin: gpio.27
#   rxd_pin: gpio.25
#   rts_pin: NO_PIN
#   cts_pin: NO_PIN
#   baud: 1000000
#   mode: 8N1
# uart_channel2:
#   report_interval_ms: 75
#   uart_num: 2

start:
  must_home: false
</file>