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Kagome metals with magnetic order offer the possibility of tuning topologicalelectronic states via external control parameters such as temperature ormagnetic field. ErMn$_6$Sn$_6$ (Er$166$) is a member of a group of $R166$,$R=$~rare earth, compounds hosting ferromagnetic Mn kagome nets whose magneticmoment direction and layer-to-layer magnetic correlations are stronglyinfluenced by coupling to $R$ magnetic moments in neighboring triangularlayers. Here, we use neutron diffraction and magnetization data to examine thetemperature-driven transition in Er$166$ from a planar-ferrimagnetic todistorted-triple-spiral magnetic order. These data inform mean-fieldcalculations which highlight the fragile, tunable nature of the magnetismcaused by competing Mn-Mn and Mn-Er interlayer magnetic exchange couplings andMn and Er magnetic anisotropies. This competition results in the neardegeneracy of a variety of collinear, non-collinear, and non-coplanar magneticphases which we show are readily selected and adjusted via changing temperatureor magnetic field. Thermal fluctuations of the Er moment direction provide thekey to this tunability.

New insight into tuning magnetic phases of RMn6Sn6 kagome metals