---
tag: m0569
title: Set TMC stepping mode
brief: Toggle stealthChop
author: teemuatlut

since: 2.0.0
requires: TMC2130|TMC2208|TMC2209
group: trinamic

codes: [ M569 ]

notes:
  - Requires at least one stealthChop capable TMC driver, such as TMC2130, TMC2208, or TMC2209.

parameters:
  -
    tag: X
    optional: true
    description: Stepping mode for the X stepper
  -
    tag: Y
    optional: true
    description: Stepping mode for the Y stepper
  -
    tag: Z
    optional: true
    description: Stepping mode for the Z stepper
  -
    tag: E
    optional: true
    description: Stepping mode for the E0 stepper
  -
    tag: I
    optional: true
    description: Index for multiple steppers. Use `I1` for X2, Y2, and/or Z2, and `I2` for Z3.
    values:
      -
        unit: index
        type: int
  -
    tag: T
    optional: true
    description: Index (tool) number for the E axis. If not specified, the E0 extruder.
    values:
      -
        unit: index
        type: int

examples:
  -
    pre: Enable stealthChop on Z and E
    code: M569 S1 Z E
  -
    pre: Disable stealthChop (use spreadCycle) on X and Y
    code: M569 S0 X Y
  -
    pre: Enable stealthChop on X2 and E1
    code: M569 S1 I1 X T1 E
  -
    pre: Report driver modes
    code: M569

---

Toggle between stealthChop and spreadCycle on supporting TMC drivers.