diff --git a/src/libslic3r/GCode.cpp b/src/libslic3r/GCode.cpp
index 7391555fa..b48d9fb43 100644
--- a/src/libslic3r/GCode.cpp
+++ b/src/libslic3r/GCode.cpp
@@ -1811,11 +1811,11 @@ void GCode::print_machine_envelope(FILE *file, Print &print)
                 int(print.config().machine_max_acceleration_extruding.values.front() + 0.5),
                 int(print.config().machine_max_acceleration_travel.values.front() + 0.5));
         if (std::set<uint8_t>{gcfRepRap}.count(print.config().gcode_flavor.value) > 0)
-            _write_format(file, "M566 X%.2lf Y%.2lf Z%.2lf E%.2lf ; sets the jerk limits, mm/sec\n",
-                print.config().machine_max_jerk_x.values.front(),
-                print.config().machine_max_jerk_y.values.front(),
-                print.config().machine_max_jerk_z.values.front(),
-                print.config().machine_max_jerk_e.values.front());
+            _write_format(file, "M566 X%.2lf Y%.2lf Z%.2lf E%.2lf ; sets the jerk limits, mm/min\n",
+                print.config().machine_max_jerk_x.values.front() * 60,
+                print.config().machine_max_jerk_y.values.front() * 60,
+                print.config().machine_max_jerk_z.values.front() * 60,
+                print.config().machine_max_jerk_e.values.front() * 60);
         if (std::set<uint8_t>{gcfMarlin, gcfLerdge, gcfRepetier}.count(print.config().gcode_flavor.value) > 0)
             _write_format(file, "M205 X%.2lf Y%.2lf Z%.2lf E%.2lf ; sets the jerk limits, mm/sec\n",
                 print.config().machine_max_jerk_x.values.front(),
diff --git a/src/libslic3r/GCode/GCodeProcessor.cpp b/src/libslic3r/GCode/GCodeProcessor.cpp
index a8a9784cd..7269a05c8 100644
--- a/src/libslic3r/GCode/GCodeProcessor.cpp
+++ b/src/libslic3r/GCode/GCodeProcessor.cpp
@@ -678,7 +678,8 @@ void GCodeProcessor::apply_config(const DynamicPrintConfig& config)
         }
     }
 
-    if (m_flavor == gcfMarlin) {
+    const ConfigOptionEnum<MachineLimitsUsage>* machine_limits_usage = config.option<ConfigOptionEnum<MachineLimitsUsage>>("machine_limits_usage");
+    if (machine_limits_usage && machine_limits_usage->value != MachineLimitsUsage::Ignore) {
         const ConfigOptionFloats* machine_max_acceleration_x = config.option<ConfigOptionFloats>("machine_max_acceleration_x");
         if (machine_max_acceleration_x != nullptr)
             m_time_processor.machine_limits.machine_max_acceleration_x.values = machine_max_acceleration_x->values;
@@ -2494,6 +2495,7 @@ void GCodeProcessor::process_M204(const GCodeReader::GCodeLine& line)
 
 void GCodeProcessor::process_M205(const GCodeReader::GCodeLine& line)
 {
+    // Note: Sprinter / Marlin gcode
     for (size_t i = 0; i < static_cast<size_t>(PrintEstimatedTimeStatistics::ETimeMode::Count); ++i) {
         if (static_cast<PrintEstimatedTimeStatistics::ETimeMode>(i) == PrintEstimatedTimeStatistics::ETimeMode::Normal ||
             m_time_processor.machine_envelope_processing_enabled) {
@@ -2579,6 +2581,7 @@ void GCodeProcessor::process_M402(const GCodeReader::GCodeLine& line)
 
 void GCodeProcessor::process_M566(const GCodeReader::GCodeLine& line)
 {
+    // RepRapFirmware gcode
     for (size_t i = 0; i < static_cast<size_t>(PrintEstimatedTimeStatistics::ETimeMode::Count); ++i) {
         if (line.has_x())
             set_option_value(m_time_processor.machine_limits.machine_max_jerk_x, i, line.x() * MMMIN_TO_MMSEC);