diff --git a/.gitignore b/.gitignore
index c19be04..52ca8a6 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,2 @@
 fluidnc-v*
+KiCad/*-backups
diff --git a/1CamBam_Stick_Fonts/1CamBam_Stick_1.ttf b/1CamBam_Stick_Fonts/1CamBam_Stick_1.ttf
new file mode 100644
index 0000000..9d59324
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diff --git a/1CamBam_Stick_Fonts/1CamBam_Stick_2.ttf b/1CamBam_Stick_Fonts/1CamBam_Stick_2.ttf
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diff --git a/1CamBam_Stick_Fonts/1CamBam_Stick_3.ttf b/1CamBam_Stick_Fonts/1CamBam_Stick_3.ttf
new file mode 100644
index 0000000..cd9be3c
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diff --git a/1CamBam_Stick_Fonts/1CamBam_Stick_4.ttf b/1CamBam_Stick_Fonts/1CamBam_Stick_4.ttf
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index 0000000..f44c9f2
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diff --git a/1CamBam_Stick_Fonts/1CamBam_Stick_5.ttf b/1CamBam_Stick_Fonts/1CamBam_Stick_5.ttf
new file mode 100644
index 0000000..0df7bcc
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diff --git a/1CamBam_Stick_Fonts/1CamBam_Stick_6.ttf b/1CamBam_Stick_Fonts/1CamBam_Stick_6.ttf
new file mode 100644
index 0000000..990f4a9
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diff --git a/1CamBam_Stick_Fonts/1CamBam_Stick_7.ttf b/1CamBam_Stick_Fonts/1CamBam_Stick_7.ttf
new file mode 100644
index 0000000..6a6f11c
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diff --git a/1CamBam_Stick_Fonts/1CamBam_Stick_8.ttf b/1CamBam_Stick_Fonts/1CamBam_Stick_8.ttf
new file mode 100644
index 0000000..a601b4e
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diff --git a/KiCad/PiBot-FluidNC-GRBL-CNC-Controller-V4.7A.kicad_prl b/KiCad/PiBot-FluidNC-GRBL-CNC-Controller-V4.7A.kicad_prl
index 43a0e71..d47a5d1 100644
--- a/KiCad/PiBot-FluidNC-GRBL-CNC-Controller-V4.7A.kicad_prl
+++ b/KiCad/PiBot-FluidNC-GRBL-CNC-Controller-V4.7A.kicad_prl
@@ -54,6 +54,7 @@
     "zone_display_mode": 0
   },
   "git": {
+    "integration_disabled": false,
     "repo_type": "",
     "repo_username": "",
     "ssh_key": ""
diff --git a/Readme.md b/Readme.md
index b215110..9d30198 100644
--- a/Readme.md
+++ b/Readme.md
@@ -30,9 +30,9 @@
     *   *More info:* [wiki.fluidnc.com](http://wiki.fluidnc.com/en/hardware/existing_hardware#pibot-fluidnc-grbl-cnc-controller-v47)
     *   *Schematics/PCB:* [oshwlab.com](https://oshwlab.com/pi3d14/pibot-fluidnc-grbl-cnc-controller-v4-7a)
 *   **Stepper Drivers:** 3x **DM542** (Digital External Drivers).
-*   **Motors:** 3x **NEMA 23** 57BYGH76 Stepper Motors (3.0A, ~1.5Nm+ torque).
+*   **Motors:** 3x **NEMA 23** 57BYGH76 Stepper Motors (3.0A, 1.5Nm torque).
 *   **Limit Sensors:** 3x **LJ12A3-4-Z/BX** (Inductive NPN NO).
-*   *Note: The PiBot V4.7 features built-in 0-10V analog output and opto-isolated inputs, eliminating the need for separate converter modules and isolation boards.*
+*   *Note: The PiBot V4.7 features built-in RS485 module and 0-10V analog output and opto-isolated inputs, eliminating the need for separate converter modules and isolation boards.*
 
 ![PiBot FluidNC GRBL Laser CNC Controller V4.7B top](images/PiBot_Board_top.jpg)  
 ![PiBot FluidNC GRBL Laser CNC Controller V4.7B bottom](images/PiBot_Board_bottom.png)
@@ -92,7 +92,7 @@ The PiBot V4.7 uses 5V logic shifting for axis signals. The following diagram il
 ### D. Spindle Control (0-10V Direct)
 The PiBot V4.7 includes an integrated 0-10V circuit.
 
-**1. 0-10V Signal Connection**
+**Option A: 0-10V Signal Connection (5-Core Shielded Cable)**
 Locate the **10V Spindle Interface** terminal on the PiBot.
 
 | PiBot Output | VFD Terminal | Function |
@@ -103,20 +103,18 @@ Locate the **10V Spindle Interface** terminal on the PiBot.
 | **out2/Rev** | **REV** | Reverse Signal |
 | **out common** | **DCM** | Digital Common |
 
-**2. RS485 Implementation Detail (4-Core Shielded)**
+**Option B: RS485 Implementation Detail (2-Core Shielded Twisted Pair Cable)**
 It allows for digital precision (no voltage drift), real-time RPM feedback, and the ability to monitor VFD temperature and current via the FluidNC Web UI.  
 To ensure zero-error communication at 24,000 RPM, the RS485 cable must be paired as follows:
 
 1. **Signal Pair:** [RS+] and [RS-] must share a single twisted pair to maximize differential noise cancellation.
-2. **Reference Pair:** Both wires of the remaining twisted pair are joined for [GND] to provide a stable common-mode reference between the PiBot and VFD logic.
-3. **Shielding:** The drain wire/braid is connected to the VFD Earth terminal (PE) only. The PiBot side of the shield is left floating (cut and insulated) to prevent ground loops.
-4. VFD Config (Huanyang):
+2. **Shielding:** The drain wire/braid is connected to the VFD Earth terminal (PE) only. The PiBot side of the shield is left floating (cut and insulated) to prevent ground loops.
+3. VFD Config (Huanyang):
 Set PD001=2 and PD002=2 for RS485 control.
 Set PD163=1, PD164=1, PD165=3 for 9600 baud communication.
-5. Wiring:
+4. Wiring:
 PiBot [A] → VFD [RS+]
 PiBot [B] → VFD [RS-]
-PiBot [GND] → VFD [DCM] (If required)
 Shield → VFD PE (Earth Ground screw)
 
 ### E. Probe (GX12)
@@ -131,7 +129,7 @@ Shield → VFD PE (Earth Ground screw)
 Proper shielding is critical to prevent EMI from the VFD from interfering with the limit sensors or stepper signals.
 
 *   **Spindle:** **GX20-4** (Double shielded **TRVVP 4x1.5mm²**). *Note: High-flex, oil-resistant for drag chains.*
-*   **Motors:** **GX16-4** (Double shielded **RVVP 4x0.5mm²**).
+*   **Motors:** **GX16-4** (Double shielded **TRVVP 4x0.5mm²** for moving parts and **RVVP 4x0.5mm²** for the rest).
 *   **Sensors/E-Stop:** **GX12-3/GX12-2** (Shielded **RVVP 0.3mm²**).
 
 | TRVVP (High-Flex Drag Chain) | RVVP (Standard Shielded) |
@@ -146,8 +144,8 @@ Proper shielding is critical to prevent EMI from the VFD from interfering with t
 2.  Unzip and run:
     ```bash
     ./erase.sh
-    ./install-fs.sh
     ./install-wifi.sh
+    ./install-fs.sh
     ```
 3.  Use `fluidterm.sh` to set your WiFi:
     ```
@@ -190,4 +188,6 @@ For **1.5kW, 220V, 400Hz** spindle:
 | **PD070** | Analog Input | **0** | **0-10V** (Standard for PiBot). |
 | **PD072** | High Analog Freq | **400.0** | Scales the knob so "Max" = 400Hz. |
 
-*For advanced spindle control, see [FluidNC Spindle Config Documentation](http://wiki.fluidnc.com/en/config/config_spindles).*
\ No newline at end of file
+Set the jumper **J1** to short pins **1** and **2** for using the external power supply (0-10V comming from the PiBot Controller). The onboard potentiometer will be disabled.
+
+*For advanced spindle control, see [FluidNC Spindle Config Documentation](http://wiki.fluidnc.com/en/config/config_spindles).*
diff --git a/docs/HY01D523B-VFD-Manual.pdf b/docs/HY01D523B-VFD-Manual.pdf
new file mode 100644
index 0000000..c74b64a
Binary files /dev/null and b/docs/HY01D523B-VFD-Manual.pdf differ
diff --git a/config.yaml b/examples/fluidnc_config/config.yaml
similarity index 72%
rename from config.yaml
rename to examples/fluidnc_config/config.yaml
index 2e6fc64..5924865 100644
--- a/config.yaml
+++ b/examples/fluidnc_config/config.yaml
@@ -11,11 +11,11 @@ stepping:
 axes:
   shared_stepper_disable_pin: NO_PIN
   x:
-    steps_per_mm: 320.000
-    max_rate_mm_per_min: 3000.000
-    acceleration_mm_per_sec2: 150.000
-    max_travel_mm: 290.000
-    soft_limits: false
+    steps_per_mm: 1000.000
+    max_rate_mm_per_min: 4000.000
+    acceleration_mm_per_sec2: 400.000
+    max_travel_mm: 230.000
+    soft_limits: true
     homing:
       cycle: 2
       positive_direction: false
@@ -27,7 +27,7 @@ axes:
       feed_scaler: 1.100
 
     motor0:
-      limit_neg_pin: gpio.35:low
+      limit_neg_pin: gpio.33:low
       limit_pos_pin: NO_PIN
       limit_all_pin: NO_PIN
       hard_limits: false
@@ -38,11 +38,11 @@ axes:
         disable_pin: I2SO.0
 
   y:
-    steps_per_mm: 320.000
-    max_rate_mm_per_min: 3000.000
-    acceleration_mm_per_sec2: 150.000
-    max_travel_mm: 390.000
-    soft_limits: false
+    steps_per_mm: 1000.000
+    max_rate_mm_per_min: 4000.000
+    acceleration_mm_per_sec2: 400.000
+    max_travel_mm: 350.000
+    soft_limits: true
     homing:
       cycle: 2
       positive_direction: false
@@ -54,7 +54,7 @@ axes:
       feed_scaler: 1.100
 
     motor0:
-      limit_neg_pin: gpio.34:low
+      limit_neg_pin: gpio.32:low
       limit_pos_pin: NO_PIN
       limit_all_pin: NO_PIN
       hard_limits: false
@@ -65,10 +65,10 @@ axes:
         disable_pin: I2SO.7
 
   z:
-    steps_per_mm: 320.000
+    steps_per_mm: 1000.000
     max_rate_mm_per_min: 1500.000
-    acceleration_mm_per_sec2: 100.000
-    max_travel_mm: 80.000
+    acceleration_mm_per_sec2: 50.000
+    max_travel_mm: 110.000
     soft_limits: false
     homing:
       cycle: 1
@@ -82,13 +82,13 @@ axes:
 
     motor0:
       limit_neg_pin: NO_PIN
-      limit_pos_pin: gpio.39:low
+      limit_pos_pin: gpio.34:low
       limit_all_pin: NO_PIN
       hard_limits: false
       pulloff_mm: 1.000
       standard_stepper:
         step_pin: I2SO.10
-        direction_pin: I2SO.9
+        direction_pin: I2SO.9:low
         disable_pin: I2SO.8
 
 i2so:
@@ -105,10 +105,25 @@ sdcard:
   card_detect_pin: NO_PIN
   cs_pin: gpio.5
 
+parking:
+  enable: true
+  axis: Z
+  pullout_distance_mm: 5.000
+  pullout_rate_mm_per_min: 250.000
+  target_mpos_mm: -5.000
+  rate_mm_per_min: 800.000
+
+#control:
+  # NOTE: safety_door_pin is repurposed as coolant flow monitor.
+  # "Door opened" status = NO COOLANT FLOW detected.
+#  safety_door_pin: gpio.39:high
+
 probe:
-  pin: gpio.33:low
+  pin: gpio.36:low
+  toolsetter_pin: NO_PIN
   check_mode_start: true
   hard_stop: false
+  probe_hard_limit: true
 
 start:
   must_home: false
@@ -158,10 +173,10 @@ coolant:
   direction_pin: NO_PIN
   disable_with_s0: false
   s0_with_disable: true
-  spinup_ms: 0
-  spindown_ms: 0
+  spinup_ms: 10000
+  spindown_ms: 10000
   tool_num: 0
-  speed_map: 0=0% 6000=25% 24000=100%
+  speed_map: 0=0% 0=25% 6000=25% 24000=100%
   off_on_alarm: false
 
-# End of File
\ No newline at end of file
+# End of File
diff --git a/examples/gcode/AccelTest.nc b/examples/gcode/AccelTest.nc
new file mode 100644
index 0000000..8b66c9d
--- /dev/null
+++ b/examples/gcode/AccelTest.nc
@@ -0,0 +1,39 @@
+(X-Axis Accel Test - RELATIVE POSITIONING)
+(WARNING: Ensure you have 200mm of travel to the RIGHT of your starting point)
+
+G21 (Set units to millimeters)
+G91 (Set relative positioning mode)
+
+(Long moves: Test acceleration up to full max speed)
+G0 X200 (Move 200mm right)
+G0 X-200 (Move 200mm left)
+G0 X200
+G0 X-200
+
+(Medium moves)
+G0 X100
+G0 X-100
+G0 X100
+G0 X-100
+
+(Short, aggressive back-and-forth moves to stress rotational inertia)
+G0 X20
+G0 X-10
+G0 X20
+G0 X-20
+G0 X30
+G0 X-30
+G0 X40
+G0 X-30
+G0 X40
+G0 X-40
+G0 X50
+
+(Return to Start Position)
+(The net travel of the short moves above is +70mm)
+(We must move -70mm to get exactly back to the start point)
+G0 X-70
+
+G90 (Set back to absolute positioning for normal operation)
+(End of test)
+M30
diff --git a/examples/gcode/FeedTest_X150.nc b/examples/gcode/FeedTest_X150.nc
new file mode 100644
index 0000000..918bfaa
--- /dev/null
+++ b/examples/gcode/FeedTest_X150.nc
@@ -0,0 +1,102 @@
+; === Feed Rate Test — X axis, relative mode ===
+; Range: 1000–6000 mm/min  |  Step: 200 mm/min
+; Pass: 150mm  |  Return: 2000 mm/min  |  Pause: 2s
+; DRY RUN — Z is not moved. Ensure spindle is off.
+; Jog to a clear position with >155mm free on X before starting.
+; ================================================
+
+G21          ; mm units
+G91          ; relative positioning
+
+; --- Pass 12 of 26: F3200 mm/min ---
+G1 X150.0 F3200
+G4 P2
+G1 X-150.0 F2000   ; return
+G4 P0.5      ; settle 0.5s
+
+; --- Pass 13 of 26: F3400 mm/min ---
+G1 X150.0 F3400
+G4 P2   
+G1 X-150.0 F2000   ; return
+G4 P0.5      ; settle 0.5s
+
+; --- Pass 14 of 26: F3600 mm/min ---
+G1 X150.0 F3600
+G4 P2   
+G1 X-150.0 F2000   ; return
+G4 P0.5      ; settle 0.5s
+
+; --- Pass 15 of 26: F3800 mm/min ---
+G1 X150.0 F3800
+G4 P2   
+G1 X-150.0 F2000   ; return
+G4 P0.5      ; settle 0.5s
+
+; --- Pass 16 of 26: F4000 mm/min ---
+G1 X150.0 F4000
+G4 P2   
+G1 X-150.0 F2000   ; return
+G4 P0.5      ; settle 0.5s
+
+; --- Pass 17 of 26: F4200 mm/min ---
+G1 X150.0 F4200
+G4 P2   
+G1 X-150.0 F2000   ; return
+G4 P0.5      ; settle 0.5s
+
+; --- Pass 18 of 26: F4400 mm/min ---
+G1 X150.0 F4400
+G4 P2   
+G1 X-150.0 F2000   ; return
+G4 P0.5      ; settle 0.5s
+
+; --- Pass 19 of 26: F4600 mm/min ---
+G1 X150.0 F4600
+G4 P2   
+G1 X-150.0 F2000   ; return
+G4 P0.5      ; settle 0.5s
+
+; --- Pass 20 of 26: F4800 mm/min ---
+G1 X150.0 F4800
+G4 P2   
+G1 X-150.0 F2000   ; return
+G4 P0.5      ; settle 0.5s
+
+; --- Pass 21 of 26: F5000 mm/min ---
+G1 X150.0 F5000
+G4 P2   
+G1 X-150.0 F2000   ; return
+G4 P0.5      ; settle 0.5s
+
+; --- Pass 22 of 26: F5200 mm/min ---
+G1 X150.0 F5200
+G4 P2   
+G1 X-150.0 F2000   ; return
+G4 P0.5      ; settle 0.5s
+
+; --- Pass 23 of 26: F5400 mm/min ---
+G1 X150.0 F5400
+G4 P2   
+G1 X-150.0 F2000   ; return
+G4 P0.5      ; settle 0.5s
+
+; --- Pass 24 of 26: F5600 mm/min ---
+G1 X150.0 F5600
+G4 P2   
+G1 X-150.0 F2000   ; return
+G4 P0.5      ; settle 0.5s
+
+; --- Pass 25 of 26: F5800 mm/min ---
+G1 X150.0 F5800
+G4 P2   
+G1 X-150.0 F2000   ; return
+G4 P0.5      ; settle 0.5s
+
+; --- Pass 26 of 26: F6000 mm/min ---
+G1 X150.0 F6000
+G4 P2   
+G1 X-150.0 F2000   ; return
+G4 P0.5      ; settle 0.5s
+
+G90          ; restore absolute positioning
+M2           ; end program
diff --git a/examples/gcode/Lavy.nc b/examples/gcode/Lavy.nc
new file mode 100644
index 0000000..6a099d5
--- /dev/null
+++ b/examples/gcode/Lavy.nc
@@ -0,0 +1,2 @@
+G1 X22.8 Y86.8 F1500
+
diff --git a/examples/gcode/Pravy.nc b/examples/gcode/Pravy.nc
new file mode 100644
index 0000000..8f82a1c
--- /dev/null
+++ b/examples/gcode/Pravy.nc
@@ -0,0 +1,2 @@
+G1 X204.4 Y86.8 F1500
+
diff --git a/examples/gcode/Predny.nc b/examples/gcode/Predny.nc
new file mode 100644
index 0000000..393a45b
--- /dev/null
+++ b/examples/gcode/Predny.nc
@@ -0,0 +1 @@
+G1 X111 Y0 F1500
diff --git a/examples/gcode/Stred.nc b/examples/gcode/Stred.nc
new file mode 100644
index 0000000..37fa619
--- /dev/null
+++ b/examples/gcode/Stred.nc
@@ -0,0 +1,2 @@
+G1 X111 Y86.8 F1500
+
diff --git a/examples/gcode/Zadny.nc b/examples/gcode/Zadny.nc
new file mode 100644
index 0000000..ebb50b8
--- /dev/null
+++ b/examples/gcode/Zadny.nc
@@ -0,0 +1,2 @@
+G1 X113.6 Y176.8 F1500
+
diff --git a/examples/gcode/one_revolution_macro.nc b/examples/gcode/one_revolution_macro.nc
new file mode 100644
index 0000000..3ac4646
--- /dev/null
+++ b/examples/gcode/one_revolution_macro.nc
@@ -0,0 +1,3 @@
+G21        ; Set units to millimeters
+G91        ; Set relative positioning
+G1 X5 F100 ; Move X axis +5mm at feed rate 100
diff --git a/images/PiBot V4.7B Controller Board Overview [ULdV1RMgzHM].mkv b/images/PiBot V4.7B Controller Board Overview [ULdV1RMgzHM].mkv
new file mode 100644
index 0000000..4c56a5a
Binary files /dev/null and b/images/PiBot V4.7B Controller Board Overview [ULdV1RMgzHM].mkv differ