Update README.md

README.md

@@ -35,8 +35,18 @@ Start by loading a .stl or .obj file - you can just drag & drop from the file sy
 * Boundary Check Paths: Adds a toolpath which follows the bounding box of the object at the safe moving height.  Useful to do a dry run and make sure the tool is clear of all clamps, etc.
 * Add Perimeter Paths: Adds toolpaths which follow the edges of the object.  The paths will be divided into layers depending on "Max Cut Depth", and will do two passes along each edge: one rough cut, removing the bulk of the material, and a clean cut trimming the edge to the exact dimension.
 
-With the tool paths generated, you can save them to a .gcode file or run them directly from PathCAM on specific robots (right now, it's VERY specific - only 2 robots in the entire world...).  Connections to more robots will be added in the future - if you have one in mind, say something and maybe it will be added sooner!
+With the tool paths generated, you can save them to a .gcode file or run them directly from PathCAM on specific robots (Including machines running GRBL!!!).  Connections to more robots will be added in the future - if you have one in mind, say something and maybe it will be added sooner!
 
+Connecting to a Robot
+---------------------
+
+There's a small checkbox hiding in the lower left-hand corner of PathCAM; click this to reveal some robot control buttons.  Here's the basic steps:
+
+1. Robot Preconfiguration: if running GRBL, make sure your robot is set to Metric and that all the steps/mm and other settings are correct.  PathCAM will tell your robot to go to (0, 0, 0) when it connects, so make sure it's already around that location.
+1. Click "Com Port" & select the COM port to which your robot is connected.  Choose the correct baud rate and click "Connect"; your robot should be automatically detected if it's running GRBL 8.0c or later and the GUI buttons for robot control will be enabled
+1. Enter the material height in the "Z Go" box, and the negative of that value in the Z Offset box.  Hit return while in the Z Offset box, then use the mouse scroll wheel or up/down buttons to jog the Z axis to the surface of the material.
+1. Load an object (.STL, .DAE, raw .gcode), ensure the speeds, heights, and other settings are to your liking, then click "Run" to start sending commands to your robot.
+1. Sit back and enjoy!  If something starts going bad, try the "Pause" button and "Clear" buttons.  Doing Pause + Clear will bring the machine safely back to it's starting position (provided it hasn't missed any steps).
 
 Special Thanks
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