diff --git a/config/generic-replicape.cfg b/config/generic-replicape.cfg
index 85375907d..d36f9eb75 100644
--- a/config/generic-replicape.cfg
+++ b/config/generic-replicape.cfg
@@ -38,6 +38,12 @@ host_mcu: host
 #   This parameter controls the CFG6_ENN line on all stepper
 #   motors. True sets the enable lines to "open". The default is
 #   False.
+#servo0_enable: False
+#   This parameter controls whether end_stop_X_2 is used for endstops
+#   (via P9_11) or for servo_0 (via P9_14). The default is False.
+#servo1_enable: False
+#   This parameter controls whether end_stop_Y_2 is used for endstops
+#   (via P9_28) or for servo_1 (via P9_16). The default is False.
 stepper_x_microstep_mode: spread16
 #   This parameter controls the CFG1 and CFG2 pins of the given
 #   stepper motor driver. Available options are: disable, 1, 2,
diff --git a/klippy/extras/replicape.py b/klippy/extras/replicape.py
index 320a5701e..33683585e 100644
--- a/klippy/extras/replicape.py
+++ b/klippy/extras/replicape.py
@@ -160,6 +160,10 @@ class Replicape:
             self.stepper_dacs[channel] = cur / REPLICAPE_MAX_CURRENT
             self.pins[prefix + 'enable'] = (ReplicapeDACEnable, channel)
         self.enabled_channels = {ch: False for cl, ch in self.pins.values()}
+        if config.getboolean('servo0_enable', False):
+            shift_registers[1] |= 1
+        if config.getboolean('servo1_enable', False):
+            shift_registers[2] |= 1
         self.sr_disabled = tuple(reversed(shift_registers))
         if [i for i in [0, 1, 2] if 11+i in self.stepper_dacs]:
             # Enable xyz steppers