# How do I replace “stepper\_z” with “stepper \_z1” with a macro?

**URL:** <https://klipper.discourse.group/t/how-do-i-replace-stepper-z-with-stepper-z1-with-a-macro/18034>\
**Category:** General Discussion\
**Created:** [August 2, 2024, 10:15am UTC](https://klipper.discourse.group/t/how-do-i-replace-stepper-z-with-stepper-z1-with-a-macro/18034 "2024-08-02T10:15:57Z")\
**Posts on this page:** 1\
**Showing post:** 6

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**Author:** ![dmbutyugin](https://avatars.discourse-cdn.com/v4/letter/d/e0b2c6/32.png) [@dmbutyugin](https://klipper.discourse.group/u/dmbutyugin)\
**Post date:** [August 6, 2024, 8:42pm UTC](https://klipper.discourse.group/t/how-do-i-replace-stepper-z-with-stepper-z1-with-a-macro/18034/6 "2024-08-06T20:42:09Z")

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This whole thing (`generic_cartesian` kinematics in general and `SET_STEPPER_KINEMATICS` command) is a new feature that was not integrated into the mainline Klipper yet, and is under testing now. You can install it from a different branch, if you know how. In principle, KIAUH supports that.

If you feel adventurous, you can install the new code from this branch: [GitHub - dmbutyugin/klipper at generic-cartesian](https://github.com/dmbutyugin/klipper/tree/generic-cartesian). Back up the old Klipper installation and configs, just in case. You can follow the instructions [here](https://github.com/dw-0/kiauh/blob/master/klipper_repos.txt.example) how to add a custom repository (the file is available as `~/kiauh/klipper_repos.txt.example` on the pi, you need to copy it as `~/kiauh/klipper_repos.txt` and add

```auto
dmbutyugin/klipper,generic-cartesian

```

line there, then run KIAUH script, select `6` to go to ‘Setttings’, then `1` to ‘Set custom Klipper repository’, and then choose the appropriate branch:

 ![image](https://global.discourse-cdn.com/free1/uploads/klipper/original/2X/1/1b6c737369f3ef7c58cacfacf5a79c529461b2be.png)  
(after you’ve done with the testing, or this feature is merged into the mainline Klipper, you can use the same sequence to select back the original Klipper (all the other options in the screenshot, including option `0` will get you there).

And then you can read the first post in the [thread](https://klipper.discourse.group/t/new-generic-cartesian-kinematics-incl-corexyu-corexyuv-generic-idex-and-awd/17510) on how to configure the `generic_cartesian` kinematics (basically, how to convert your existing config to it).

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