![GitHub Logo](/doc/media/Grbl Logo 250px.png)
***
Grbl is a no-compromise, high performance, low cost alternative to parallel-port-based motion control for CNC milling. It will run on a vanilla Arduino (Duemillanove/Uno) as long as it sports an Atmega 328.
The controller is written in highly optimized C utilizing every clever feature of the AVR-chips to achieve precise timing and asynchronous operation. It is able to maintain up to 30kHz 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 most 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 to 18 motions into the future and plan its velocities ahead to deliver smooth acceleration and jerk-free cornering.
* [Licensing](https://github.com/grbl/grbl/wiki/Licensing): Grbl is free software, released under the GPLv3 license.
* For more information and help, check out our **[Wiki pages!](https://github.com/grbl/grbl/wiki)** If you find that the information is out-dated, please to help us keep it updated by editing it or notifying our community! Thanks!
* Lead Developer [_2011 - Current_]: Sungeun(Sonny) K. Jeon, Ph.D. (USA) aka @chamnit
* Lead Developer [_2009 - 2011_]: Simen Svale Skogsrud (Norway). aka The Originator/Creator/Pioneer/Father of Grbl.
***
### Official Supporters of the Grbl CNC Project
![Official Supporters](https://dl.dropboxusercontent.com/u/2221997/Contributors.png)
***
_**Master Branch:**_
* [Grbl v0.9j Atmega328p 16mhz 115200baud with generic defaults](http://bit.ly/1I8Ey4S) _(2015-09-30)_
* [Grbl v0.9j Atmega328p 16mhz 115200baud with ShapeOko2 defaults](http://bit.ly/1OjUSia) _(2015-09-30)_
- **IMPORTANT INFO WHEN UPGRADING TO GRBL v0.9 :**
- Baudrate is now **115200** (Up from 9600).
- Homing cycle updated. Located based on switch trigger, rather than release point.
- Variable spindle is now enabled by default. Z-limit(D12) and spindle enable(D11) have switched to access the hardware PWM on D11. Homing will not work if you do not re-wire your Z-limit switch to D12.
_**Archives:**_
* [Grbl v0.9i Atmega328p 16mhz 115200baud with generic defaults](http://bit.ly/1EiviDk)
* [Grbl v0.9i Atmega328p 16mhz 115200baud with ShapeOko2 defaults](http://bit.ly/1NYIfKl)
* [Grbl v0.9g Atmega328p 16mhz 115200baud with generic defaults](http://bit.ly/1m8E1Qa)
* [Grbl v0.9g Atmega328p 16mhz 115200baud with ShapeOko2 defaults](http://bit.ly/1kOAzig)
* [Grbl v0.8c Atmega328p 16mhz 9600baud](http://bit.ly/SSdCJE)
* [Grbl v0.7d Atmega328p 16mhz 9600baud](http://bit.ly/ZhL15G)
* [Grbl v0.6b Atmega328p 16mhz 9600baud](http://bit.ly/VD04A5)
* [Grbl v0.51 Atmega328p 16mhz 9600baud](http://bit.ly/W75BS1)
* [Grbl v0.6b Atmega168 16mhz 9600baud](http://bit.ly/SScWnE)
* [Grbl v0.51 Atmega168 16mhz 9600baud](http://bit.ly/VXyrYu)
***
##Update Summary for v0.9j
- **Restore EEPROM feature:** A new set of restore EEPROM features to help OEMs and users reset their Grbl installation to the build defaults. See Configuring Grbl Wiki for details.
##Update Summary for v0.9i
- **IMPORTANT:**
- **Homing cycle updated. Locates based on trigger point, rather than release point.**
- **System tweaks: $14 cycle auto-start has been removed. No more QUEUE state.**
- **New G-Codes**
- **CoreXY Support**
- **Safety Door Support**
- **Full Limit and Control Pin Configurability**
- **Additional Compile-Time Feature Options**
##Update Summary for v0.9h from v0.8
- **IMPORTANT:**
- **Default serial baudrate is now 115200! (Up from 9600)**
- **Z-limit(D12) and spindle enable(D11) pins have switched to support variable spindle!**
- **Super Smooth Stepper Algorithm**
- **Stability and Robustness Updates**
- **(x4)+ Faster Planner**
- **Compile-able via Arduino IDE!**
- **G-Code Parser Overhaul**
- **Independent Acceleration and Velocity Settings**
- **Soft Limits**
- **Probing**
- **Dynamic Tool Length Offsets**
- **Improved Arc Performance**
- **CPU Pin Mapping**
- **New Grbl SIMULATOR! (by @jgeisler and @ashelly)**
- **Configurable Real-time Status Reporting**
- **Updated Homing Routine**
- **Optional Limit Pin Sharing**
- **Optional Variable Spindle Speed Output**
- **Additional Compile-Time Feature Options**
-
```
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
```
-------------
Grbl is an open-source project and fueled by the free-time of our intrepid administrators and altruistic users. If you'd like to donate, all proceeds will be used to help fund supporting hardware and testing equipment. Thank you!
[![Donate](https://www.paypalobjects.com/en_US/i/btn/btn_donate_LG.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=CUGXJHXA36BYW)
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写字机器人
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grbl-master.zip (69个子文件)
grbl-master
.gitignore 42B
Makefile 3KB
build
.gitignore 70B
doc
media
Grbl Logo 320px.png 57KB
COPYING 60B
Grbl Logo 250px.png 41KB
Grbl Logo 150px.png 10KB
Grbl Logo.svg 6KB
Grbl Logo 640px.png 48KB
Grbl Logo.pdf 5KB
log
commit_log_v0.9g.txt 69KB
commit_log_v0.8c.txt 26KB
commit_log_v0.7.txt 16KB
commit_log_v0.9i.txt 24KB
script
stream.py 6KB
simple_stream.py 2KB
grbl
system.h 5KB
defaults
defaults_shapeoko2.h 3KB
defaults_simulator.h 3KB
defaults_zen_toolworks_7x7.h 3KB
defaults_x_carve_500mm.h 3KB
defaults_oxcnc.h 3KB
defaults_shapeoko.h 3KB
defaults_generic.h 3KB
defaults_sherline.h 3KB
defaults_shapeoko3.h 3KB
defaults_x_carve_1000mm.h 3KB
nuts_bolts.h 3KB
settings.c 12KB
gcode.h 8KB
coolant_control.c 2KB
report.c 22KB
spindle_control.h 1KB
planner.c 24KB
print.c 5KB
system.c 13KB
defaults.h 3KB
probe.h 2KB
spindle_control.c 5KB
config.h 28KB
eeprom.c 5KB
coolant_control.h 894B
limits.c 15KB
limits.h 1KB
examples
grblUpload
license.txt 1KB
grblUpload.ino 1KB
protocol.h 2KB
serial.c 6KB
motion_control.c 17KB
grbl.h 2KB
probe.c 2KB
gcode.c 58KB
settings.h 5KB
stepper.h 2KB
serial.h 2KB
eeprom.h 1KB
nuts_bolts.c 4KB
print.h 2KB
planner.h 4KB
cpu_map.h 2KB
main.c 3KB
report.h 3KB
cpu_map
cpu_map_atmega328p.h 6KB
cpu_map_atmega2560.h 5KB
stepper.c 45KB
motion_control.h 3KB
protocol.c 20KB
COPYING 34KB
README.md 6KB
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