Open-source motion firmware makes building your own machines realistic. The choice depends on the machine type, the controller board and how much you want to tune.
How they differ
| Firmware | Architecture | Best for |
|---|---|---|
| GRBL | Runs on the machine's microcontroller and interprets G-code directly | CNC routers, lasers, plotters |
| Marlin | Runs entirely on the printer's microcontroller | 3D printers, widely supported boards |
| Klipper | A host computer such as a Raspberry Pi computes motion; the MCU executes timed steps | Fast 3D printers, advanced tuning |
Klipper's split design moves the heavy maths to the host, which enables high step rates even on modest microcontrollers and features such as input shaping to reduce ringing at speed.
Choosing for your machine
Define the machine
Axes, kinematics, speed, accuracy and tools (pen, spindle, laser, extruder).
Check board support
Pick firmware that supports controller boards you can source locally.
Decide on a host
Klipper needs a host computer. GRBL and Marlin can run stand-alone.
Plan custom features
Klipper's macros and host-side configuration make process-specific commands easy to add.
Tune and document
Calibrate steps, acceleration and vibration, and write it down for your technicians.
Frequently asked questions
Can Klipper run on an ESP32?
Klipper normally targets common printer MCUs. I maintain an open-source ESP32 port that lets low-cost ESP32 boards act as the Klipper MCU.
Is GRBL suitable for 3D printing?
It is designed for CNC-style machines. For printers, Marlin or Klipper are better choices.
Do I need a Raspberry Pi for Klipper?
You need a host computer. A Raspberry Pi is the most common choice, but other Linux boards work.
Sources
Embedded systems consultant at TechProgeny, Bengaluru. 7+ years and 29+ shipped products across firmware, embedded Linux, edge AI, apps and IoT servers.