diff --git a/Firmware/Configuration_prusa.h b/Firmware/Configuration_prusa.h
index 39b69df..294ebf0 100644
--- a/Firmware/Configuration_prusa.h
+++ b/Firmware/Configuration_prusa.h
@@ -69,7 +69,7 @@
 #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 207
 #define Z_MIN_POS 0.15
 
 // Canceled home position
@@ -104,7 +104,7 @@
 #define DEFAULT_ACCELERATION          1250   // X, Y, Z and E max acceleration in mm/s^2 for printing moves (M204S)
 #define DEFAULT_RETRACT_ACCELERATION  1250   // X, Y, Z and E max acceleration in mm/s^2 for retracts (M204T)
 
-#define MANUAL_FEEDRATE {2700, 2700, 1000, 100}   // set the speeds for manual moves (mm/min)
+#define MANUAL_FEEDRATE {2700, 2700, 1000, 350}   // set the speeds for manual moves (mm/min)
 
 //Silent mode limits
 #define SILENT_MAX_ACCEL_XY      960ul  // max acceleration in silent mode in mm/s^2
@@ -343,7 +343,7 @@
 
 // Unload filament commands
 #define UNLOAD_FILAMENT_0 "M83"
-#define UNLOAD_FILAMENT_1 "G1 E-80 F7000"
+#define UNLOAD_FILAMENT_1 "G1 E-80 F15000"
 
 /*------------------------------------
  CHANGE FILAMENT SETTINGS
@@ -490,7 +490,7 @@
 #define FARM_PREHEAT_HOTEND_TEMP 250
 #define FARM_PREHEAT_HPB_TEMP 80
 
-#define PLA_PREHEAT_HOTEND_TEMP 215
+#define PLA_PREHEAT_HOTEND_TEMP 200
 #define PLA_PREHEAT_HPB_TEMP 60
 
 #define ASA_PREHEAT_HOTEND_TEMP 260
diff --git a/Firmware/mmu.cpp b/Firmware/mmu.cpp
index d8ae497..1dbdbdf 100644
--- a/Firmware/mmu.cpp
+++ b/Firmware/mmu.cpp
@@ -1121,10 +1121,10 @@ void extr_unload()
 			plan_buffer_line_curposXYZE(25, active_extruder);
 		}
 		
-		current_position[E_AXIS] += 10; //extrusion
-		plan_buffer_line_curposXYZE(10, active_extruder);
+		//current_position[E_AXIS] += 10; //extrusion
+		//plan_buffer_line_curposXYZE(10, active_extruder);
 		st_current_set(2, E_MOTOR_HIGH_CURRENT);
-		if (current_temperature[0] < 230) { //PLA & all other filaments
+		/* if (current_temperature[0] < 230) { //PLA & all other filaments
 			current_position[E_AXIS] += 5.4;
 			plan_buffer_line_curposXYZE(2800 / 60, active_extruder);
 			current_position[E_AXIS] += 3.2;
@@ -1142,15 +1142,19 @@ void extr_unload()
 			/*current_position[X_AXIS] += 23; //delay
 			plan_buffer_line_curposXYZE(600 / 60, active_extruder); //delay
 			current_position[X_AXIS] -= 23; //delay
-			plan_buffer_line_curposXYZE(600 / 60, active_extruder); //delay*/
+			plan_buffer_line_curposXYZE(600 / 60, active_extruder); //delay 
 			delay_keep_alive(4700);
-		}
+		} */
 	
-		max_feedrate[E_AXIS] = 80;
-		current_position[E_AXIS] -= (bowden_length[mmu_extruder] + 60 + FIL_LOAD_LENGTH) / 2;
-		plan_buffer_line_curposXYZE(500, active_extruder);
-		current_position[E_AXIS] -= (bowden_length[mmu_extruder] + 60 + FIL_LOAD_LENGTH) / 2;
-		plan_buffer_line_curposXYZE(500, active_extruder);
+		max_feedrate[E_AXIS] = 160;
+		current_position[E_AXIS] -= 50;
+		plan_buffer_line_curposXYZE(40000 / 60, active_extruder);
+		st_synchronize();
+		current_position[E_AXIS] += 42;
+		plan_buffer_line_curposXYZE(500 / 60, active_extruder);
+		st_synchronize();
+		current_position[E_AXIS] -= 120;
+		plan_buffer_line_curposXYZE(40000 / 60, active_extruder);
 		st_synchronize();
 		//st_current_init();
 		if (SilentMode != SILENT_MODE_OFF) st_current_set(2, tmp_motor[2]); //set back to normal operation currents
diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index d08f536..752dba8 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -6362,14 +6362,14 @@ void unload_filament()
 
 	//		extr_unload2();
 
-	current_position[E_AXIS] -= 45;
-	plan_buffer_line_curposXYZE(5200 / 60, active_extruder);
+	current_position[E_AXIS] -= 50;
+	plan_buffer_line_curposXYZE(40000 / 60, active_extruder);
 	st_synchronize();
-	current_position[E_AXIS] -= 15;
-	plan_buffer_line_curposXYZE(1000 / 60, active_extruder);
+	current_position[E_AXIS] += 42;
+	plan_buffer_line_curposXYZE(500 / 60, active_extruder);
 	st_synchronize();
-	current_position[E_AXIS] -= 20;
-	plan_buffer_line_curposXYZE(1000 / 60, active_extruder);
+	current_position[E_AXIS] -= 120;
+	plan_buffer_line_curposXYZE(40000 / 60, active_extruder);
 	st_synchronize();
 
 	lcd_display_message_fullscreen_P(_T(MSG_PULL_OUT_FILAMENT));
diff --git a/z-gantry.txt b/z-gantry.txt
new file mode 100644
index 0000000..e66ec11
--- /dev/null
+++ b/z-gantry.txt
@@ -0,0 +1,10 @@
+206
+207
+208 X
+209 X
+210 X
+211 X
+212 X
+213
+214
+215
\ No newline at end of file