machines/systems/flexibot/docs/marlin/_gcode/M569.md

tag	title	brief	author	since	requires	group	codes	notes	parameters	examples
m0569	Set TMC stepping mode	Toggle stealthChop	teemuatlut	2.0.0	TMC2130|TMC2208|TMC2209	trinamic	M569	Requires at least one stealthChop capable TMC driver, such as TMC2130, TMC2208, or TMC2209.	tag optional description X true Stepping mode for the X stepper tag optional description Y true Stepping mode for the Y stepper tag optional description Z true Stepping mode for the Z stepper tag optional description E true Stepping mode for the E0 stepper tag optional description values I true Index for multiple steppers. Use `I1` for X2, Y2, and/or Z2, and `I2` for Z3. unit type index int tag optional description values T true Index (tool) number for the E axis. If not specified, the E0 extruder. unit type index int	pre code Enable stealthChop on Z and E M569 S1 Z E pre code Disable stealthChop (use spreadCycle) on X and Y M569 S0 X Y pre code Enable stealthChop on X2 and E1 M569 S1 I1 X T1 E pre code Report driver modes M569

Toggle between stealthChop and spreadCycle on supporting TMC drivers.