My drives section in config.g looks like this:
; Drives
M569 P0 S0 ; physical drive 0 goes backwards
M569 P1 S0 ; physical drive 1 goes backwards
M569 P2 S1 ; physical drive 2 goes forwards
M569 P3 S0 ; physical drive 3 goes backwards
M584 X0 Y1 Z2 E3 ; set drive mapping
M350 X16 Y16 Z16 E128 I1 ; configure microstepping with interpolation
M92 X80.00 Y80.00 Z400.00 E805.12 ; set steps per mm
M566 X600.00 Y600.00 Z24.00 E300.00 ; set maximum instantaneous speed changes (mm/min)
M203 X9000.00 Y9000.00 Z600.00 E6000.00 ; set maximum speeds (mm/min)
M201 X400.00 Y400.00 Z100.00 E5000.00 ; set accelerations (mm/s^2)
M906 X800 Y800 Z800 E900 I30 ; set motor currents (mA) and motor idle factor in per cent
M84 S30 ; Set idle timeout