I hope this will be helpful for some who think about installing MKS GEN L using LV8729 stepper drivers. There are changes in the firmware. I have additional preheat preset for PETG Some useless menu items were removed. (power ON, cool down) POWER OFF moved to main screen instead of prepare menu. Steps and speed are adjusted to result good prints to match LV8729 drivers . Using 1/32 steps for all motors. Steps for 1/64 are for X and Y (320,320) E1 (second extruder slot) is used for 2nd Z Axis motor because ROBO3D R1 has 2 Z-axis motors. That means you can have only one extruder. (in case you have more) Flash settings: (make sure to select correct PORT) MKS GEN L Will require a new hole for USB port as well as different mount holes. I mounted mine like this so holeis right next to the old one and cooling fan blows directly on to the stepper drivers: Jumper configurations: high low high (middle jumper removed) Diagram for common drivers and jumper settings for MKS GEN L Everything else is pretty standard.