diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py
index 28ed7ab7..cddc9160 100644
--- a/klippy/extras/tmc2130.py
+++ b/klippy/extras/tmc2130.py
@@ -175,15 +175,22 @@ class TMCCommandHelper:
         self.gcode.register_mux_command(
             "INIT_TMC", "STEPPER", self.name,
             self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
-    def init_registers(self, print_time=0.):
+        self.printer.register_event_handler("klippy:connect",
+                                            self._handle_connect)
+    def _init_registers(self, print_time):
         # Send registers
         for reg_name, val in self.fields.registers.items():
             self.mcu_tmc.set_register(reg_name, val, print_time)
+    def _handle_connect(self):
+        try:
+            self._init_registers(0.)
+        except self.printer.command_error as e:
+            raise self.printer.config_error(str(e))
     cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
     def cmd_INIT_TMC(self, params):
         logging.info("INIT_TMC %s", self.name)
         print_time = self.printer.lookup_object('toolhead').get_last_move_time()
-        self.init_registers(print_time)
+        self._init_registers(print_time)
     cmd_SET_TMC_FIELD_help = "Set a register field of a TMC driver"
     def cmd_SET_TMC_FIELD(self, params):
         if 'FIELD' not in params or 'VALUE' not in params:
@@ -353,7 +360,6 @@ class TMC2130:
         set_config_field(config, "pwm_freq", 1)
         set_config_field(config, "pwm_autoscale", True)
         set_config_field(config, "sgt", 0)
-        cmdhelper.init_registers()
     def setup_pin(self, pin_type, pin_params):
         if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
             raise pins.error("tmc2130 virtual endstop only useful as endstop")
diff --git a/klippy/extras/tmc2208.py b/klippy/extras/tmc2208.py
index 6d9e0831..b7cc13ae 100644
--- a/klippy/extras/tmc2208.py
+++ b/klippy/extras/tmc2208.py
@@ -309,8 +309,6 @@ class TMC2208:
     def __init__(self, config):
         self.printer = config.get_printer()
         self.name = config.get_name().split()[-1]
-        self.printer.register_event_handler("klippy:connect",
-                                            self._handle_connect)
         # Setup mcu communication
         self.regs = collections.OrderedDict()
         self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters,
@@ -354,15 +352,6 @@ class TMC2208:
         set_config_field(config, "pwm_autograd", True)
         set_config_field(config, "PWM_REG", 8)
         set_config_field(config, "PWM_LIM", 12)
-    def _init_registers(self):
-        # Send registers
-        for reg_name, val in self.regs.items():
-            self.set_register(reg_name, val)
-    def _handle_connect(self):
-        try:
-            self._init_registers()
-        except self.printer.command_error as e:
-            raise self.printer.config_error(str(e))
     def query_registers(self, print_time=0.):
         out = []
         for reg_name in ReadRegisters:
diff --git a/klippy/extras/tmc2660.py b/klippy/extras/tmc2660.py
index 4d481033..c2ecff8a 100644
--- a/klippy/extras/tmc2660.py
+++ b/klippy/extras/tmc2660.py
@@ -231,9 +231,6 @@ class TMC2660:
         self.fields.set_field("RDSEL", 0) # needed for phase calculations
         self.fields.set_field("SDOFF", 0) # only step/dir mode supported
 
-        # Init Registers
-        cmdhelper.init_registers()
-
         # Register ready/printing handlers
         self.idle_current_percentage = config.getint(
             'idle_current_percent', default=100, minval=0, maxval=100)
diff --git a/klippy/extras/tmc5160.py b/klippy/extras/tmc5160.py
index ed061ade..37678fa0 100644
--- a/klippy/extras/tmc5160.py
+++ b/klippy/extras/tmc5160.py
@@ -320,8 +320,6 @@ class TMC5160:
         self.fields.set_field("TPWMTHRS", thresh)
         #   TPOWERDOWN
         set_config_field(config, "TPOWERDOWN", 10)
-
-        cmdhelper.init_registers()
     def setup_pin(self, pin_type, pin_params):
         if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
             raise pins.error("tmc5160 virtual endstop only useful as endstop")