CURRENT MODEL · RELEASED 2026-06-22

PiBot CNC Pendant V4.2 Complete Manual

A capacitive-touch, encoder-based hand controller for compatible FluidNC systems. Use ESP3D for the actively maintained PiBot workflow, or FluidDial for the current ESP-NOW workflow. Both firmware families also support wired RJ12 serial communication.

ESP3D Wi-FiFluidDial ESP-NOWRJ12 UARTPhysical RX/TX swap

Package Firmware RJ12 wiring RX/TX FluidNC YAML Troubleshooting

About this manual: Pendant V4.2 is the current product. The Pendant V4.0 page remains available for older hardware, old package contents and legacy firmware procedures. Do not use the old external Bluetooth-module tutorial for a new V4.2 shipment.

1. Product overview

PiBot designed the electronics after testing other touch-screen and encoder combinations that did not provide the required control feel. The result combines a responsive capacitive touch screen, an industrial-style handwheel encoder and dedicated physical controls in a compact enclosure. PiBot develops and maintains the ESP3D-based product workflow with Luc, the author of ESP3D. The enclosure design was contributed by Liz W. in the United States, and FluidDial provides the alternative open-source firmware family.

What V4.2 adds

Two physical jumper groups for swapping UART RX and TX without opening or re-pinning the cable.
Improved automatic-download circuit: normal USB installation no longer requires holding and releasing BOOT.
18650 reverse-polarity protection.
Updated V02 enclosure with a small cover beside the battery compartment.

Compatible control systems

PiBot V5.88 Ultra
PiBot V4.96 Pro
PiBot V5.77 Carrier
PiBot V4.7B
Other FluidNC controllers only when their UART pinout, supply, baud rate and firmware feature set are confirmed compatible.

2. Package contents

A. Pendant V4.2

Fully assembled main unit.

B. RJ12 Adapter V4.2

Controller-side conversion module with a physical RX/TX selection jumper.

C. RJ12 cable

One approved 1 m communication cable.

Not included: the external Bluetooth transceiver pair and Bluetooth-to-mainboard adapter supplied with some older V4.0 packages are no longer included and are not part of this manual. A flat-top 18650 battery is also not included.

3. Hardware features and specifications

Controls and interfaces

Capacitive touch screen
Industrial-style rotary encoder/handwheel
Potentiometer knob and band/selector switch
Three independent push buttons
Built-in speaker
RJ12 wired serial connection
USB connection for firmware installation
Dual-PCB design with internal expansion access

Mechanical and battery

Weight: approximately 365 g
Body size: approximately 165 × 60 mm
Screen area: approximately 76 × 55 mm
Battery: one flat-top 18650 cell; Sony VTC5/VTC6 used for PiBot testing
Battery level display, charging and reverse-polarity protection
V01 original and V02 updated printable enclosure archives available below

Battery protection is not permission to ignore polarity. Follow the +/− marks, use an undamaged flat-top cell and do not use a cell with torn insulation, corrosion or unknown condition.

PiBot Pendant control and connector overview

Pendant control and connector overview retained from the original product documentation.

4. Choose the firmware and connection method

Firmware	Wireless method	Wired method	Recommended use
ESP3D PiBot firmware	Wi-Fi	RJ12 UART	Recommended and primarily maintained by PiBot. Includes the software Swap RX TX setting.
FluidDial for PiBot	ESP-NOW	RJ12 UART	Alternative open-source interface. PiBot provides a compiled online installer and a PiBot source branch.
Legacy ESP3D / old FluidNC	Built-in Bluetooth on supported old configurations	RJ12 UART	Legacy only. Not recommended for a new installation; no external Bluetooth-module tutorial is provided.
grblHAL	Pendant firmware support is still under development.		Do not use the FluidNC instructions as a grblHAL procedure.

Machine safety: the pendant is an operator interface, not a certified emergency-stop circuit. Keep a hard-wired machine E-stop that removes hazardous energy independently of Wi-Fi, ESP-NOW, UART and pendant software.

5. Install or update pendant firmware

Option A — ESP3D Recommended

Use the official ESP3D browser installer and select the PiBot pendant target described by the installer.

Open ESP3D Installer

Download the PiBot ESP3D PDF manual

Option B — FluidDial ESP-NOW

Use the PiBot web installer for the ready-to-flash build, or compile the PiBot source target with VS Code and PlatformIO.

Open PiBot FluidDial Installer

PiBot FluidDial source · FluidDial upstream source

USB installation sequence for Pendant V4.2

1

Disconnect the pendant from the machine. Remove the RJ12 cable. Move the battery switch down so the 18650 is electrically disconnected.

2

Connect a data-capable USB cable to the pendant and the computer. Install the required USB serial driver if no serial port appears.

3

Open the selected installer in current Chrome or Edge. Choose the PiBot pendant build and the required wired baud-rate variant when the installer presents a choice.

4

Start installation and wait for the success message. V4.2 normally enters download mode automatically; it should not require the old V4.0 hold-BOOT-and-release sequence.

5

Disconnect USB, restart the pendant and complete the firmware's first-start setup. Do not connect it to a live machine until the display, encoder and buttons have passed a bench check.

If automatic download does not start: first change the USB cable/port, close other serial programs and retry at a lower flashing speed. Use BOOT recovery only when the installer or recovery guide specifically requests it.

Compile FluidDial from source (advanced)

The PiBot branch already contains PiBot pendant hardware support. In VS Code with PlatformIO, use the current environment names shown by the checked-out source. The PiBot release branch documents merged builds for 1,000,000 and 115200 baud; build the variant that matches the intended wired configuration, then flash the merged image at offset 0x0. Users following the newest upstream FluidDial may ask their coding assistant to select or recreate the PiBot Pendant V4 hardware target before building.

6. Wireless setup

ESP3D over Wi-Fi

Install the current ESP3D PiBot firmware.
Open the pendant network/connection settings.
Connect the pendant to the network used by the FluidNC controller, or to the controller's documented access point.
Enter the FluidNC host/IP required by the ESP3D firmware.
With motors and the spindle/laser disabled, confirm status updates and one jog axis at a safe distance.

Use the linked ESP3D PDF for the exact current screen names and settings.

FluidDial over ESP-NOW

Install the current PiBot FluidDial ESP-NOW build.
Make sure the controller uses a PiBot FluidNC build that supports the matching ESP-NOW pendant channel.
Select ESP-NOW in the pendant connection settings and open the pairing screen.
Open the pairing window on the controller; current implementations use $espnow/pair in a FluidNC terminal.
Wait for both sides to save the pairing, then perform the safe-function check below.

If the controller firmware does not expose ESP-NOW pairing, update it using the instructions for that exact PiBot board rather than substituting another model's firmware.

7. RJ12 wired connection — read before wiring

RJ12 battery rule: the pendant battery must be electrically disconnected whenever RJ12 is used. Move the pendant's side battery switch down before inserting the RJ12 cable. In the wiring diagrams, the red “Turn the power off” callout means this battery-disconnect position; it does not mean that the RJ12-powered pendant cannot operate.

Turn off controller and machine power before plugging or unplugging any RJ12 cable or adapter.
Move the pendant battery switch down. The 18650 may remain physically in its holder only while the switch keeps it electrically disconnected.
Use the supplied PiBot RJ12 cable. A telephone handset cable may fit while using a different contact order.
Set the pendant firmware to wired/serial mode and match the controller UART baud rate. The current direct and Expander V5 examples use 1000000 8N1.
Use only one RX/TX swap method in the complete chain.
After wiring, power the controller, inspect its boot log and test the pendant with motors, spindle and laser disabled.

8. Direct RJ12 connection to PiBot controllers

V5.88 Ultra

Connect the V5.88 RJ12 pendant port directly to Pendant V4.2 with the approved cable.

V4.96 Pro with RJ12 Adapter V4.2

PiBot V4.96 Pro and RJ12 Adapter V4.2 direct connection to Pendant V4.2

The V4.96 controller-side header connects to RJ12 Adapter V4.2; the adapter then connects to the pendant.

V5.77 Carrier

Connect the V5.77 RJ12 pendant port directly to Pendant V4.2 with the approved cable.

V4.7B with RJ12 Adapter V4.2

PiBot V4.7B and RJ12 Adapter V4.2 direct connection to Pendant V4.2

The V4.7B controller-side header connects to RJ12 Adapter V4.2; the adapter then connects to the pendant.

9. Connect through PiBot I/O Expander V5

Signal path: controller → Expander V5 “From FluidNC Mainboard” port → Expander “To Pendant” port → Pendant V4.2. Match all UART baud rates. Expander V5 also provides physical RX/TX selection at its RJ12 input/output path.

V5.88 Ultra → Expander V5 → Pendant

PiBot V5.88 Ultra through I/O Expander V5 to Pendant V4.2

V4.96 Pro → RJ12 Adapter V4.2 → Expander V5 → Pendant

PiBot V4.96 Pro through RJ12 Adapter V4.2 and I/O Expander V5 to Pendant V4.2

V5.77 Carrier → Expander V5 → Pendant

PiBot V5.77 Carrier through I/O Expander V5 to Pendant V4.2

V4.7B → RJ12 Adapter V4.2 → Expander V5 → Pendant

PiBot V4.7B through RJ12 Adapter V4.2 and I/O Expander V5 to Pendant V4.2

10. RX/TX direction and jumper selection

Pendant V4.2 Group 1 default and Group 2 swapped RX TX jumper positions

Pendant V4.2 provides two jumper-cap positions: Group 1 is the default direction; Group 2 swaps RX and TX.

Correction point	Available method	Rule
Pendant V4.2	Move both jumper caps from Group 1 to Group 2, or back to Group 1.	Move only with all power removed.
RJ12 Adapter V4.2	Use its physical RX/TX jumper group.	Useful for V4.96 and V4.7B controller-side correction.
I/O Expander V5	Use one of its documented RX/TX jumper groups.	Choose one correction point in the whole chain.
ESP3D firmware	Settings → Setting Editor → Swap RX TX	Software swap can replace a physical swap; do not enable both.
Older pendant/cable	Exchange only the confirmed RX and TX contacts in the detachable signal cable.	Legacy fallback only; never move power or GND.

Two swaps cancel each other. If the pendant, adapter and expander are all changed, the final direction may return to the original state. Change one point, power up and test before changing anything else. Never move VCC, VMOT, 5 V, 3.3 V or GND.

11. FluidNC UART configuration

The physical RX/TX correction options are shared, but GPIO numbers are not. Start with the YAML and RJ12 test page for the exact controller model.

Controller	Direct UART2 mapping	Default documented baud	Resource conflict / note	Exact test page
V5.88 Ultra	TX `GPIO.0` RX `GPIO.35`	`1000000 8N1`	RJ12 and OLED use independent pins and may operate together.	V5.88 Test RJ12
V4.96 Pro	TX `GPIO.27` RX `GPIO.25`	`1000000 8N1`	OLED shares GPIO.25/27; disable OLED when UART2 is used.	V4.96 Test RJ12
V5.77 Carrier	TX `GPIO.0` RX `GPIO.35`	`1000000 8N1`	GPIO.0 is a boot-strap pin; disconnect the accessory for diagnosis if boot fails.	V5.77 Test RJ12
V4.7B	TX `GPIO.27` RX `GPIO.25`	`1000000 8N1`	OLED shares GPIO.25/27; disable OLED when UART2 is used.	V4.7B Test RJ12

UART channel pattern

Replace the two GPIO values only with those confirmed for the selected board. Do not copy a V5.88/V5.77 mapping into V4.96/V4.7B or vice versa.

uart2:
  txd_pin: gpio.<BOARD_TX>
  rxd_pin: gpio.<BOARD_RX>
  rts_pin: NO_PIN
  cts_pin: NO_PIN
  baud: 1000000
  mode: 8N1

uart_channel2:
  report_interval_ms: 75
  uart_num: 2

12. First safe-function test

The machine's hard-wired E-stop has been tested independently.
Spindle/laser enable and motor power are disabled for the pendant test.
Wireless pairing or UART connection survives a cold boot.
Displayed machine state and coordinates update without repeated connection errors.
Each physical button performs only its labelled function.
The encoder changes the selected value/axis in the intended direction.
A short, low-speed jog moves only the selected axis and stops when released.
Feed hold, cycle start and reset produce the expected FluidNC state.

Pass: communication is stable after repeated restarts, controls map correctly and no unintended motion occurs.

Fail: disconnect hazardous loads before troubleshooting. Do not continue if a control triggers the wrong function, the display freezes, the controller repeatedly reboots or motion continues after the command is released.

13. Troubleshooting

USB installer cannot connect

Use Chrome/Edge and a data-capable USB cable.
Close serial monitors and other programs using the port.
Retry another USB port and lower flashing speed.
Confirm the battery switch is down and RJ12 is removed.
V4.2 should auto-download; use BOOT recovery only if specifically required.

Wireless has no connection

Confirm the installed firmware family: ESP3D uses Wi-Fi; current FluidDial uses ESP-NOW.
For ESP-NOW, confirm the controller firmware supports the matching channel and repeat pairing.
For ESP3D, confirm network credentials and the FluidNC host/IP.
Do not follow the retired external Bluetooth-module pairing tutorial.

RJ12 has power but no data

Confirm identical baud rates.
Confirm board-specific TX/RX GPIOs and the active YAML filename.
Change exactly one RX/TX swap point.
For V4.96/V4.7B, verify OLED is disabled.
Use only the approved cable and correct adapter orientation.

Direct works; Expander path fails

Test the pendant directly and the Expander separately.
Confirm “From FluidNC Mainboard” and “To Pendant” ports are not reversed.
Match the controller, expander and pendant baud rates.
Use one Expander/adapter/pendant jumper as the RX/TX correction point.

14. Developer reference

These definitions are retained for firmware developers working with PiBot Pendant V4/V4.2 hardware. End users installing the supplied firmware do not need to edit them.

Partial schematic retained as a developer reference; production revisions and the V4.2 PCB silkscreen take precedence if a detail differs.

ILI9341 display

TFT_CS   15
TFT_DC    2
TFT_MOSI 13
TFT_CLK  14
TFT_MISO 12
TFT_RST  -1
TFT_LED  21

FT6336U touch

TOUCH_SDA 32
TOUCH_SCL 25
TOUCH_IRQ 36
TOUCH_CS  33

Other peripheral pins

Potentiometer centre tap: GPIO.26
TF/microSD: MISO GPIO.19, CS GPIO.5, MOSI GPIO.23, CLK GPIO.18
Buttons: GPIO.4, GPIO.16 and GPIO.17, active low
Encoder: GPIO.22 phase A, GPIO.27 phase B
Three-position switch: GPIO.34, GPIO.35 and GPIO.39 with pull-ups

Power-controller indicator button

More than 50 ms but less than 2 s: short press; enables the battery indicator and boost output.
More than 2 s: long press; toggles the LED light.
Less than 50 ms: ignored.
Two short presses within 1 s: turns off boost output, battery indicator and LED light.

15. Downloads and support

Download V01 original enclosure files Download V02 updated enclosure files ESP3D installer FluidDial installer

V01 original enclosure: contains the original battery lid, case top and bottom, button, spacer, handwheel/roller part and potentiometer knob files.

V02 updated enclosure: retains the newer case parts, including the battery-area lid/cover, case top and bottom variants, joined spacers, two knobs and PiBot buttons. Both revisions remain available so existing builds are not forced onto the newer shell.

ESP3D support: Join the PiBot Discord and use the Pendant support thread.