Teensy 4.1 CNC Controller

Teensy 4.1 based 5 Axis, Ethernet CNC controller running grblHAL.

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Teensy 4.1 Breakout Board for grblHAL Motion Controller SW. Supports up to 5 Axes, VFD Spindles (0-10V, PWM, Relay), Dust Extraction Relay ganged to Spindle, Independent control of Dust Extractor (for later clean up), I2C and Serial connections, Can directly drive 7 relays including Spindle, Dust Extractor, Flood coolant, mist coolant and 3 auxiliary relays. Interface is via USB or Ethernet. Screw terminals for reliable connections.

Designed for grblHAL, a 32-bit version of the classic Grbl motion controller. grblHAL runs on a number of 32-bit microcontrollers including iMXRT1062 (Teensy 4.x), STM32 (blue and black pill), ESP32, SAM (Due and MKRZERO) and TI 432. It supports high stepping rates. I spec my board for 160 KHz but bare grblHAL can produce up to 400KHz. Highly modular, it is easy to configure. It is definitely not your father's Grbl!

This is currently running in a number of CNC machines. The photos show an entry level CNC machine with a 300x300mm work envelope

T41U5XBB v207.pdf

User manual including assembly instructions and BOM.

Adobe Portable Document Format - 7.62 MB - 10/05/2020 at 05:11


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kmatch98 wrote 03/10/2024 at 13:34 point

I just wanted to send a note to thank you for this work and especially for the easy to understand blog post you made explaining how to find the pre built binaries and for the pin outs diagram on the teensy. I had struggled to understand how to build and use grbl from the main website, but your work helped me get grbl up and running, along with the gcode sender. And thanks for the tips about reconfiguring the settings for the safer connections being normally open or normally closed. Just wanted to send a note of appreciation that your work helped another fellow traveler find their way into making a basic CNC type machine. Many thanks!

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The Big One wrote 04/09/2021 at 20:05 point

This looks awesome!  I'm currently picking out a CNC frame (leaning toward the Workbee / Queen bee currently, but not sure).  If I can get it working with the basic 8 bit GRBL controller I'll look to upgrade to this one down the road.

Currently on Tindie there is only one left.  Are you planning on re-stocking?  (No rush of course... this is likely months out for me).

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The Big One wrote 04/11/2021 at 16:32 point

I ended up jumping on this after all, and got the last board.  Now I just need my CNC components to arrive...

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The Big One wrote 07/10/2021 at 04:01 point

Finally got the CNC up and running, and carved a test piece, using this controller.  It works very well, and I love some of the advanced features of GRBL Hal (such as auto squaring the Y axis, etc).  Still have a long way to go (i.e. install a wasteboard, put the electronics in an enclosure, etc), but it is looking great. 

Thanks Phil!

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3D2Code wrote 11/18/2020 at 15:30 point

I looked at the grbl-HAL code on GitHub and looks like it supports G5 (cubic bezier splines) in 2 axes. Do you know whether there is a plan to expand this to all 5 axes? 

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phil-barrett wrote 11/20/2020 at 07:08 point

Sorry for responding so late.  I don't know the answer. You could ask Terje (the grblHAL developer) on the grblHAL github repository in the issues section -

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3D2Code wrote 11/20/2020 at 14:10 point

Will do. 

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phil-barrett wrote 11/18/2020 at 08:34 point

Drew, those are real  TB6600 drivers. I bought them a few years ago before the plague of fake TB6600s arose like Covid.  I did a tear down on one of the current "TB6600" drivers - not a real TB6600 chip in it.  I am hard pressed to find a driver built around a real Toshiba TB6600.

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drew wrote 11/18/2020 at 08:11 point

Just wondering what driver boards you're using in the above system.

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phil-barrett wrote 11/17/2020 at 17:52 point

I am currently sold out of boards but I have a new shipment waiting for carrier pickup in Shenzhen. Should be here by the end of the week. 

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phil-barrett wrote 11/21/2020 at 23:37 point

Well, FedEx is a bit slower than I thought. They are now saying Tuesday11/24 though they some times under promise/over deliver. So, you might want to check the Tindie store on Monday.

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phil-barrett wrote 11/16/2020 at 21:56 point

Hello, a quick update. I am putting the finishing touches on a "Pro" version of the board.  It includes FRAM for logging machine time, Pluggable Screw Terminals, USB Host support, high speed quad encoder support, spindle sync input and daughter card mounts for I2C and Serial IO.  Updates as I start testing the first boards.

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phil-barrett wrote 11/14/2020 at 21:23 point

Thanks.  It's based on a CBeam router from open builds.  Here are some detail

To be honest, wouldn't recommend the mechanicals. It's OK but I don't like the moving bed on a single CBeam rail.   Better to get a small WorkBee.  Happy to answer any other questions.

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jason wrote 11/14/2020 at 20:50 point

i know the project is about the controller, but i love the look of your cnc router.. any details?

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