Stepoko: Powered by grbl Hookup Guide

Contributors: MTaylor
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Firmware: grbl for the Stepoko

The Stepoko is shipped with the latest grbl, (v0.9) as of this writing. The grbl project is highly developed and can be found in github, complete with a wiki that describes in detail what the settings do.

Direct links to the project and wiki:

From the grbl github repository:

List of Supported G-Codes in Grbl v0.9 Master:
- Non-Modal Commands: G4, G10L2, G10L20, G28, G30, G28.1, G30.1, G53, G92, G92.1
- Motion Modes: G0, G1, G2, G3, G38.2, G38.3, G38.4, G38.5, G80
- Feed Rate Modes: G93, G94
- Unit Modes: G20, G21
- Distance Modes: G90, G91
- Arc IJK Distance Modes: G91.1
- Plane Select Modes: G17, G18, G19
- Tool Length Offset Modes: G43.1, G49
- Cutter Compensation Modes: G40
- Coordinate System Modes: G54, G55, G56, G57, G58, G59
- Control Modes: G61
- Program Flow: M0, M1, M2, M30*
- Coolant Control: M7*, M8, M9
- Spindle Control: M3, M4, M5
- Valid Non-Command Words: F, I, J, K, L, N, P, R, S, T, X, Y, Z

In our factory, after programming the firmware onto the Stepoko, we put the following settings directly into the ROM of the ATmega328p. These are held even when power is removed, or until they are changed by the user through the serial (or Universal Gcode Sender) interface.

These default settings are appropriate for the Shapoko 3 mill.

$0=10 (step pulse, usec)
$1=255 (step idle delay, msec)
$2=0 (step port invert mask:00000000)
$3=5 (dir port invert mask:00000101)
$4=0 (step enable invert, bool)
$5=0 (limit pins invert, bool)
$6=0 (probe pin invert, bool)
$10=255 (status report mask:11111111)
$11=0.020 (junction deviation, mm)
$12=0.010 (arc tolerance, mm)
$13=0 (report inches, bool)
$20=0 (soft limits, bool)
$21=0 (hard limits, bool)
$22=0 (homing cycle, bool)
$23=0 (homing dir invert mask:00000000)
$24=100.000 (homing feed, mm/min)
$25=1000.000 (homing seek, mm/min)
$26=25 (homing debounce, msec)
$27=5.000 (homing pull-off, mm)
$100=40.000 (x, step/mm)
$101=40.000 (y, step/mm)
$102=40.000 (z, step/mm)
$110=5000.000 (x max rate, mm/min)
$111=5000.000 (y max rate, mm/min)
$112=5000.000 (z max rate, mm/min)
$120=400.000 (x accel, mm/sec^2)
$121=400.000 (y accel, mm/sec^2)
$122=400.000 (z accel, mm/sec^2)
$130=425.000 (x max travel, mm)
$131=465.000 (y max travel, mm)
$132=80.000 (z max travel, mm)