--- title: "ESP32-P4 + RP2350(grblHAL) + W5500 CNC Controller" url: "https://maker.wiznet.io/TheoIm/projects/esp32-p4-rp2350-w5500-cnc-controller/" markdown_url: "https://maker.wiznet.io/TheoIm/projects/esp32-p4-rp2350-w5500-cnc-controller/md" type: "UCC: User Created Content" author: "TODORO" author_url: "https://blog.naver.com/cimygy/224076279204?trackingCode=blog_bloghome_searchlist" editor: "WIZnet" editor_url: "https://maker.wiznet.io/" original_author: "TODORO" original_url: "https://blog.naver.com/cimygy/224076279204?trackingCode=blog_bloghome_searchlist" published: "2025-11-17" language: "en" hardware: ["WIZnet WIZ850io"] likes: 0 views: 901 comments: 0 source: "WIZnet Makers (https://maker.wiznet.io/)" --- # ESP32-P4 + RP2350(grblHAL) + W5500 CNC Controller > Todoro’s CNC uses ESP32-P4 for UI, RP2350 for motion, and W5500 for Ethernet+SD—simple, stable, and fully networked CNC control. Original author: TODORO (source: https://blog.naver.com/cimygy/224076279204?trackingCode=blog_bloghome_searchlist) ## Components - **WIZnet WIZ850io** x 1 ([docs](https://docs.wiznet.io/Product/ioModule/WIZ850io)) ## Article [**Todoro**](https://blog.naver.com/cimygy)**'s CNC system** combines ESP32-P4 for UI, RP2350 for motion control, and W5500 for networking—delivering a simple, stable, and fully networked CNC platform with clearly separated responsibilities. ## PROJECT OVERVIEW This project comes from **Todoro**, a well-known Korean maker active on the Naver blog platform, recognized for detailed circuit design, PCB work, and high-quality CNC/embedded development. His latest build combines **ESP32-P4, RP2350, and WIZnet W5500** into a next-generation CNC controller with three distinct functional layers: 1. **HMI / Display Layer** 2. **Real-time CNC Motion Layer** 3. **Network & File Management Layer** Below is a complete breakdown of the system architecture. --- ## 🔷 Ultra-Simple System Overview — **How This CNC System Is Structured** Todoro’s CNC platform uses **two different MCUs** and **one Ethernet engine**, each with a dedicated role: **[ESP32-P4] ESP32-P4 Module **(**Core **/ MIPI / Base) → Handles **UI, touch display, web viewer, user interaction** ![](https://maker.wiznet.io/upload/ckeditor5/183849667%5F1763393003%2Epng) **[ESP32-P4] MIPI CAM Module** (Core / **MIPI **/ Base) → Handles CAM ![](https://maker.wiznet.io/upload/ckeditor5/611469355%5F1763542231%2Epng) **[ESP32-P4] Base Board** (Core / MIPI / **Base**) → BASE board for combining the Core board and the MIPI board, and the final assembled view ![](https://maker.wiznet.io/upload/ckeditor5/611469355%5F1763542207%2Epng) ![](https://maker.wiznet.io/upload/ckeditor5/183849667%5F1763393147%2Epng) **[grblHAL Board] RP2350 Board** → Handles **motion control, G-code execution, stepper/driver control** ![](https://maker.wiznet.io/upload/ckeditor5/183849667%5F1763392986%2Epng) **[grblHAL Board] WIZ850io (W5500) + microSD Module** → Provides **Wired Ethernet, file storage, G-code upload, remote monitoring** ![](https://maker.wiznet.io/upload/ckeditor5/183849667%5F1763392970%2Epng) **[grblHAL Board] Breakout Board** → A 5-axis breakout board supporting PWM/0–10V spindle control, limit/coolant/door/switch inputs, user M-code outputs, and UART/I²C expansion for MPG and keypads. ![](https://maker.wiznet.io/upload/ckeditor5/611469355%5F1763542590%2Epng) ![](https://maker.wiznet.io/upload/ckeditor5/611469355%5F1763542514%2Epng) This screen shows the web interface enabled by the expansion board using the **WIZ850io (W5500)** Ethernet module and a **Micro SD card module**. With Ethernet connectivity, the device can host a full web dashboard where users can upload **G-code files**, store them on the T-Flash (microSD) card, and start machining directly from the network. The interface allows real-time monitoring of machine status—from any browser, even remotely—making it easy to check parameters, temperatures, IO pins, and system messages right from a smartphone or PC. ![](https://maker.wiznet.io/upload/ckeditor5/611469355%5F1763542757%2Epng) 📊** Overall Architecture** ![](https://maker.wiznet.io/upload/ckeditor5/183849667%5F1763392733%2Epng) --- ## ① Project Purpose The goal is to build a **modern, high-performance CNC controller** that is both maker-friendly and architecturally clean. ### Clear Role Distribution - **RP2350 + grblHAL**: Real-time G-code processing and precise motion control - **ESP32-P4**: Smooth, responsive UI environment - **WIZnet W5500**: Reliable industrial-grade Ethernet without CPU overhead ### Three Essential Capabilities Enabled by W5500 1. **Network File Transfer**: Send and receive G-code files over wired LAN 2. **File Storage**: Store job data on microSD card 3. **Remote Monitoring**: Lightweight web interface for machine status Because all **TCP/IP processing runs inside the W5500 hardware**, the RP2350 remains fully dedicated to motion control. **In short**: W5500 transforms the RP2350-based CNC controller into a stable, network-ready platform. ### What is grblHAL? Understanding the Motion Control Brain **grblHAL** is an advanced, open-source CNC motion controller firmware—a next-generation evolution of the original Grbl project that pioneered affordable CNC control. #### What It Does | Function | Description | | --- | --- | | **G-code Interpreter** | Reads standard CNC programming language (G-code) | | **Motion Planning** | Calculates smooth, precise toolpath trajectories | | **Real-Time Control** | Generates step/direction signals for stepper motors at microsecond precision | | **Hardware Abstraction Layer (HAL)** | Supports multiple MCU platforms (RP2040, RP2350, STM32, ESP32, etc.) | #### Why grblHAL for This Project? **Traditional Grbl limitations**: - Single-platform (Arduino/ATmega328) - Limited expansion options - Basic feature set **grblHAL advantages**: - **Multi-platform**: Runs on modern MCUs like RP2350 - **Modular architecture**: Easy to add Ethernet, SD card, displays - **Industrial features**: RS274 NGC support, advanced kinematics, CAM integration - **Active development**: Community-driven with regular updates #### The RP2350 Advantage Running **grblHAL **on **RP2350** provides: ✅ **Dual-core processing**: Motion control + peripheral management ✅ **PIO (Programmable I/O)**: Hardware-level step generation without CPU overhead ✅ **High clock speed**: 300MHz+ ensures smooth motion at high speeds ✅ **Expansion capability**: Enough resources for Ethernet (W5500) + SD card + more **Result**: Industrial-grade CNC control at maker-friendly cost—grblHAL + RP2350 handles complex 3D toolpaths while W5500 manages network file transfer in parallel, with zero interference between systems. --- ## ② Communication Structure & Typical Workflow ### 🔄 How the System Operates `![](https://maker.wiznet.io/upload/ckeditor5/183849667%5F1763392781%2Epng)` ### Process Flow | Step | Component | Action | | --- | --- | --- | | **File Upload** | W5500 | Receives G-code over Ethernet, stores to SD | | **Motion Execution** | RP2350 | Loads file, processes through **grblHAL** | | **Local Monitoring** | ESP32-P4 | Displays real-time status on screen | | **Remote Monitoring** | W5500 | Serves web interface for status checking | Throughout the entire workflow: - **ESP32-P4** handles UI interaction - **RP2350** maintains motion timing and control**(with grblHAL)** - **W5500** manages all networking tasks This clean separation results in a **stable, responsive, and easily extensible** CNC controller. --- ## ③ Software Perspective: How It Works Inside RP2350 The RP2350 **never handles TCP/IP networking overhead**. Instead, it communicates with W5500 using simple **SPI register operations**, while W5500 internally manages all Ethernet activity. ### Efficient Data Flow ![](https://maker.wiznet.io/upload/ckeditor5/397665397%5F1763454333%2Epng) 1. **W5500 manages** TCP sockets and network connections 2. **Files stored directly** to SD card without RP2350 involvement 3. **RP2350 reads files** and processes through grblHAL 4. **PIO generates** precise motion signals 5. **Motion control remains stable** — no network processing burden --- ## ④ Expansion Potential: Future Possibilities ### 🏭 Industrial Protocol Support - **MODBUS-TCP**: Widely used in industrial automation - **EtherNet/IP**: Allen-Bradley ecosystem compatibility - **OPC-UA**: Industry 4.0 standard communication ### 📊 Advanced Features - Remote job management via SD card logging - System diagnostics and telemetry - Multi-machine coordination ### 🔧 Reusability Across Platforms This architecture can be adapted for: - **CNC machines** - **Robotics systems** - **3D printers** - **Factory automation devices** --- ## Conclusion Todoro's CNC controller demonstrates how **proper architecture** can create a system that is simultaneously **powerful, stable, and maintainable**. By assigning clear roles to each component—UI to ESP32-P4, motion to RP2350, and networking to W5500—the design achieves **professional-grade performance** while remaining accessible to makers. This approach forms a **solid foundation** for anyone building network-enabled industrial control systems, whether for CNC, robotics, or automation applications. --- Source: https://maker.wiznet.io/TheoIm/projects/esp32-p4-rp2350-w5500-cnc-controller/