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Revision to M569

Tony

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+Back to the [[Gcode|Gcode Dictionary]]
==== M569: Set motor driver direction, enable polarity, mode and step pulse timing ====
* ***Tnnn*** (firmware 1.14 and later) Minimum driver step pulse width and interval in microseconds
* ***Taa:bb:cc:dd*** (firmware 1.21 and later) Minimum driver step pulse width, step pulse interval, direction setup time and direction hold time, in microseconds
-* ***Dnn*** (firmware 2.0 and later, only applies to TMC2660, TMC22xx, TMC2160, TMC5160 and TMC5161 stepper drivers) Driver mode: 0=constant off time, 1=random off time, 2=spread cycle, 3=stealthChop or stealthChop2 (mode 3 for TMC22xx/TMC2160/TMC516x only), 4 = Closed Loop (only for [[Duet 3 Expansion 1HCL|1HCL expansion boards)]]. The default is spreadCycle for TMC2660, TMC2160 and TMC516x drivers, and stealthChop2 for TMC22xx. In stealthChop mode the drivers will switch over to spreadCycle automatically at high speeds, see the V parameter.
+* ***Dnn*** (firmware 2.0 and later, only applies to TMC2660, TMC22xx, TMC2160, TMC5160 and TMC5161 stepper drivers) Driver mode: 0=constant off time, 1=random off time, 2=spread cycle, 3=stealthChop or stealthChop2 (mode 3 for TMC22xx/TMC2160/TMC516x only), 4 = Closed Loop (only for [[Topic:Duet 3 Expansion 1HCL|1HCL expansion boards)]]. The default is spreadCycle for TMC2660, TMC2160 and TMC516x drivers, and stealthChop2 for TMC22xx. In stealthChop mode the drivers will switch over to spreadCycle automatically at high speeds, see the V parameter.
* ***Fnn*** (firmware 2.02 and later) Off-time in the chopper control register, 1 to 15
* ***Cnnnn*** (firmware 2.0 and later, only applies to TMC2660, TMC22xx, TMC2160 and TMC516x stepper drivers) Lowest 17 bits of the chopper control register value.

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