diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 314c0369018f..88d475f003b3 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -678,14 +678,14 @@
  *          TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE
  * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'L6470', 'L6474', 'POWERSTEP01', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE']
  */
-#define X_DRIVER_TYPE  TMC2209_STANDALONE
-#define Y_DRIVER_TYPE  TMC2209_STANDALONE
-#define Z_DRIVER_TYPE  TMC2209_STANDALONE
+#define X_DRIVER_TYPE  TMC2209
+#define Y_DRIVER_TYPE  TMC2209
+#define Z_DRIVER_TYPE  TMC2209
 //#define X2_DRIVER_TYPE A4988
 //#define Y2_DRIVER_TYPE A4988
 //#define Z2_DRIVER_TYPE A4988
 //#define Z3_DRIVER_TYPE A4988
-#define E0_DRIVER_TYPE TMC2209_STANDALONE
+#define E0_DRIVER_TYPE TMC2209
 //#define E1_DRIVER_TYPE A4988
 //#define E2_DRIVER_TYPE A4988
 //#define E3_DRIVER_TYPE A4988
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index 5195e3969f07..cbd0717a7223 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -2035,7 +2035,7 @@
   #endif
 
   #if AXIS_IS_TMC(E0)
-    #define E0_CURRENT      800
+    #define E0_CURRENT     1000
     #define E0_MICROSTEPS    16
     #define E0_RSENSE         0.11
     #define E0_CHAIN_POS     -1
@@ -2117,14 +2117,14 @@
    * on the same serial port, either here or in your board's pins file.
    */
   #define  X_SLAVE_ADDRESS 0
-  #define  Y_SLAVE_ADDRESS 0
-  #define  Z_SLAVE_ADDRESS 0
+  #define  Y_SLAVE_ADDRESS 1
+  #define  Z_SLAVE_ADDRESS 2
   #define X2_SLAVE_ADDRESS 0
   #define Y2_SLAVE_ADDRESS 0
   #define Z2_SLAVE_ADDRESS 0
   #define Z3_SLAVE_ADDRESS 0
   #define Z4_SLAVE_ADDRESS 0
-  #define E0_SLAVE_ADDRESS 0
+  #define E0_SLAVE_ADDRESS 3
   #define E1_SLAVE_ADDRESS 0
   #define E2_SLAVE_ADDRESS 0
   #define E3_SLAVE_ADDRESS 0
@@ -2175,7 +2175,7 @@
    * M912 - Clear stepper driver overtemperature pre-warn condition flag.
    * M122 - Report driver parameters (Requires TMC_DEBUG)
    */
-  //#define MONITOR_DRIVER_STATUS
+  #define MONITOR_DRIVER_STATUS
 
   #if ENABLED(MONITOR_DRIVER_STATUS)
     #define CURRENT_STEP_DOWN     50  // [mA]
@@ -2260,7 +2260,7 @@
    * Enable M122 debugging command for TMC stepper drivers.
    * M122 S0/1 will enable continous reporting.
    */
-  //#define TMC_DEBUG
+  #define TMC_DEBUG
 
   /**
    * You can set your own advanced settings by filling in predefined functions.
diff --git a/Marlin/src/pins/stm32/pins_MKS_ROBIN_NANO.h b/Marlin/src/pins/stm32/pins_MKS_ROBIN_NANO.h
index 6bb58a3cbaf1..63b9f1093441 100755
--- a/Marlin/src/pins/stm32/pins_MKS_ROBIN_NANO.h
+++ b/Marlin/src/pins/stm32/pins_MKS_ROBIN_NANO.h
@@ -131,31 +131,31 @@
   //
 
   #ifndef X_SERIAL_TX_PIN
-    #define X_SERIAL_TX_PIN  PB2 //LED_PIN
+    #define X_SERIAL_TX_PIN  PA6 //E1_STEP_PIN
   #endif
   #ifndef X_SERIAL_RX_PIN
-    #define X_SERIAL_RX_PIN  PE6 //MAX6675_SS_PIN
+    #define X_SERIAL_RX_PIN  PA1 //E1_DIR_PIN
   #endif
 
   #ifndef Y_SERIAL_TX_PIN
-    #define Y_SERIAL_TX_PIN  PB2 //LED_PIN
+    #define Y_SERIAL_TX_PIN  PA6 //E1_STEP_PIN
   #endif
   #ifndef Y_SERIAL_RX_PIN
-    #define Y_SERIAL_RX_PIN  PE6 //MAX6675_SS_PIN
+    #define Y_SERIAL_RX_PIN  PA1 //E1_DIR_PIN
   #endif
 
   #ifndef Z_SERIAL_TX_PIN
-    #define Z_SERIAL_TX_PIN  PB2 //LED_PIN
+    #define Z_SERIAL_TX_PIN  PA6 //E1_STEP_PIN
   #endif
   #ifndef Z_SERIAL_RX_PIN
-    #define Z_SERIAL_RX_PIN  PE6 //MAX6675_SS_PIN
+    #define Z_SERIAL_RX_PIN  PA1 //E1_DIR_PIN
   #endif
 
   #ifndef E0_SERIAL_TX_PIN
-    #define E0_SERIAL_TX_PIN PB2 //LED_PIN
+    #define E0_SERIAL_TX_PIN PA6 //E1_STEP_PIN
   #endif
   #ifndef E0_SERIAL_RX_PIN
-    #define E0_SERIAL_RX_PIN PE6 //MAX6675_SS_PIN
+    #define E0_SERIAL_RX_PIN PA1 //E1_DIR_PIN
   #endif
 #endif
 
diff --git a/platformio.ini b/platformio.ini
index a31a488a6ad8..c222f0fec912 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -484,10 +484,12 @@ lib_ignore    = Adafruit NeoPixel, SPI
 platform      = ststm32
 board         = genericSTM32F103VE
 build_flags   = !python Marlin/src/HAL/HAL_STM32F1/build_flags.py
-  ${common.build_flags} -std=gnu++14
+  ${common.build_flags} -std=gnu++14 -DHAVE_SW_SERIAL
 build_unflags = -std=gnu++11
 extra_scripts = buildroot/share/PlatformIO/scripts/mks_robin_nano.py
 src_filter    = ${common.default_src_filter} +<src/HAL/HAL_STM32F1>
+lib_deps =
+  TMCStepper=https://github.com/bigtreetech/TMCStepper
 lib_ignore    = Adafruit NeoPixel, SPI
 
 #