diff --git a/Firmware/Configuration.h b/Firmware/Configuration.h
index 469386e..5f9580a 100644
--- a/Firmware/Configuration.h
+++ b/Firmware/Configuration.h
@@ -7,7 +7,7 @@
 #define STR(x) STR_HELPER(x)
 
 // Firmware version
-#define FW_VERSION "3.3.1"
+#define FW_VERSION "3.3.1-SPV1"
 #define FW_COMMIT_NR   845
 // FW_VERSION_UNKNOWN means this is an unofficial build.
 // The firmware should only be checked into github with this symbol.
diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
index 6217aec..af9c608 100644
--- a/Firmware/Marlin_main.cpp
+++ b/Firmware/Marlin_main.cpp
@@ -3123,7 +3123,7 @@ void gcode_M701()
 	st_synchronize();
 
 	if (current_position[Z_AXIS] < 20) current_position[Z_AXIS] += 30;
-	current_position[E_AXIS] += 30;
+	current_position[E_AXIS] += 20;
 	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder); //fast sequence
 	st_synchronize();
 	current_position[E_AXIS] += 25;
@@ -6990,7 +6990,7 @@ Sigma_Exit:
 		gcode_M701();
 	}
 	break;
-	case 702:
+	case 702: //M702: unload filament
 	{
 #ifdef SNMM
 		if (code_seen('U')) {
@@ -7013,11 +7013,11 @@ Sigma_Exit:
 
 //		extr_unload2();
 		
-		current_position[E_AXIS] -= 45;
+		current_position[E_AXIS] -= 32;
 		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5200 / 60, active_extruder);
         st_synchronize();
-        current_position[E_AXIS] -= 15;
-        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
+        current_position[E_AXIS] -= 10;
+        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 100 / 60, active_extruder);
         st_synchronize();
         current_position[E_AXIS] -= 20;
         plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index a53ce72..b429f62 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -2189,6 +2189,7 @@ static void lcd_preheat_menu()
 	  MENU_ITEM_FUNCTION_P(PSTR("HIPS -  " STRINGIFY(HIPS_PREHEAT_HOTEND_TEMP) "/" STRINGIFY(HIPS_PREHEAT_HPB_TEMP)), lcd_preheat_hips);
 	  MENU_ITEM_FUNCTION_P(PSTR("PP   -  " STRINGIFY(PP_PREHEAT_HOTEND_TEMP) "/" STRINGIFY(PP_PREHEAT_HPB_TEMP)), lcd_preheat_pp);
 	  MENU_ITEM_FUNCTION_P(PSTR("FLEX -  " STRINGIFY(FLEX_PREHEAT_HOTEND_TEMP) "/" STRINGIFY(FLEX_PREHEAT_HPB_TEMP)), lcd_preheat_flex);
+	  MENU_ITEM_FUNCTION_P(PSTR("nozzle -  " STRINGIFY(FARM_PREHEAT_HOTEND_TEMP) "/0"), lcd_preheat_farm_nozzle);
 	  MENU_ITEM_FUNCTION_P(_T(MSG_COOLDOWN), lcd_cooldown);
   }
   
diff --git a/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h b/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h
index ca8c00f..a30b659 100644
--- a/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h
+++ b/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h
@@ -35,7 +35,7 @@
 
 // Steps per unit {X,Y,Z,E}
 //#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,140}
-#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,280}
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,980}
 //#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,560}
 
 // Endstop inverting
@@ -61,7 +61,7 @@
 #define X_MIN_POS 0
 #define Y_MAX_POS 212.5
 #define Y_MIN_POS -4 //orig -4
-#define Z_MAX_POS 210
+#define Z_MAX_POS 220
 #define Z_MIN_POS 0.15
 
 // Canceled home position
@@ -86,8 +86,8 @@
  */
 #define SHEET_PRINT_ZERO_REF_Y -2.f
 
-#define DEFAULT_MAX_FEEDRATE          {200, 200, 12, 120}      // (mm/sec)   max feedrate (M203)
-#define DEFAULT_MAX_ACCELERATION      {1000, 1000, 200, 5000}  // (mm/sec^2) max acceleration (M201)
+#define DEFAULT_MAX_FEEDRATE          {500, 500, 12, 320}      // (mm/sec)   max feedrate (M203)
+#define DEFAULT_MAX_ACCELERATION      {5000, 5000, 200, 5000}  // (mm/sec^2) max acceleration (M201)
 
 
 #define DEFAULT_ACCELERATION          1250   // X, Y, Z and E max acceleration in mm/s^2 for printing moves (M204S)
@@ -253,8 +253,8 @@
 #define TMC2130_SG_THRS_E       3     // stallguard sensitivity for E axis
 
 //new settings is possible for vsense = 1, running current value > 31 set vsense to zero and shift both currents by 1 bit right (Z axis only)
-#define TMC2130_CURRENTS_H {16, 20, 35, 30}  // default holding currents for all axes
-#define TMC2130_CURRENTS_R {16, 20, 35, 30}  // default running currents for all axes
+#define TMC2130_CURRENTS_H {20, 20, 25, 30}  // default holding currents for all axes
+#define TMC2130_CURRENTS_R {20, 20, 25, 30}  // default running currents for all axes
 #define TMC2130_UNLOAD_CURRENT_R 12			 // lowe current for M600 to protect filament sensor 
 
 #define TMC2130_STEALTH_Z
@@ -625,5 +625,6 @@
 #define M600_TIMEOUT 600  //seconds
 
 //#define SUPPORT_VERBOSITY
+#define DEBUG_DISABLE_FORCE_SELFTEST //disable force selftest 
 
 #endif //__CONFIGURATION_PRUSA_H
diff --git a/Firmware/xyzcal.cpp b/Firmware/xyzcal.cpp
index ed3d321..a59f489 100644
--- a/Firmware/xyzcal.cpp
+++ b/Firmware/xyzcal.cpp
@@ -32,7 +32,7 @@
 
 #define _PI 3.14159265F
 
-extern long count_position[NUM_AXIS];
+extern volatile long count_position[NUM_AXIS];
 
 uint8_t check_pinda_0();
 uint8_t check_pinda_1();