ESP32-Based FluidNC TMC2209 CNC Controller runs FluidNC open-source firmware

ESP32-Based FluidNC TMC2209 CNC Controller runs FluidNC open-source firmware

FluidNC TMC2209 Pen/Laser CNC Controller is an ESP32-based 2-axis CNC controller with FluidNC firmware. This CNC controller is designed for machines that use stepper motors on 2 axes. These include pen drawing machines, laser cutters/engravers, sand plotters, etc. It also has an RC Servo connector for pen lift on a Z axis.

ESP32 wireless modules have been used for years in 3D printers and CNC controllers, such boards as Phi Mainboard 5LC 3D printer controller, Pen/Laser Engraver ESP32 Controller, Longer RAY5 Laser Engraver. Feel free to check those out if you are interested in those topics.

Pinout diagram

FluidNC TMC2209 Pen/Laser CNC Controller specifications:

  • Wireless module:  Espressif Systems ESP32-WROOM-32E
    • Xtensa dual-core 32-bit LX6 microprocessor, up to 240 MHz
    • 4MB flash
    • 448 KB ROM, 520 KB SRAM and 16 KB SRAM in RTC
    • 2.4 GHz WiFi and Bluetooth LE connectivity, built-in PCB antenna
  • Stepper drivers: 2 numbers TMC2209 stepper drivers
  • USB: USB type C port
  • Interface: MicroSD card socket
  • Misc:
    • Optional stallGuard for sensorless end stops
    • 1 number RC servo connection
    • 6 numbers of inputs for limit and control switches
    • I/O Expansion port for displays and pendants
    • 3 numbers of 5V outputs to control lasers and accessories
  • Power:
    • input voltage (VIN) range 12-30 VDC
    • Input current is minimum 3A
  • Dimensions: 70mm x 70mm

You will find more technical details, a YAML file configuration, and setup information on the wiki page. The FluidNC source code is on GitHub. You can use a FluidNC web installer in Chrome, Edge, or Opera to install the firmware on compatible boards. The PCB design is open-source, and all resources are available in oshwlab. The 3D design of this board is available and you can download it from Fusion360.

FluidNC ESP3D WebUI to control the board

The FluidNC TMC2209 Pen/Laser CNC Controller is now available to order on Tindie at $45 without shipping charges. It is also available on Elecrow at $40 or even lower if you buy two or more. If you need more than this CNC controller for your project, check out FluidNC’s wiki for a wide range of supported hardware options.

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About Debashis Das

Tech Content Creator | Hardware Design Engineer | IoT Enthusiast | Digital Storyteller | Video Creator | From crafting digital dialogues at Semicon Media to orchestrating online engagement at, my journey is about making tech talk interesting and accessible. In the quiet corners of the day, I advocate for easier tech education, one tutorial at a time. Let's connect and keep the digital dialogue going!

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