diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
index dc00e4b7..0c1a6384 100644
--- a/Firmware/Marlin_main.cpp
+++ b/Firmware/Marlin_main.cpp
@@ -1316,6 +1316,8 @@ void loop()
   manage_inactivity();
   checkHitEndstops();
   lcd_update();
+
+  tmc2130_check_overtemp();
 }
 
 void get_command()
@@ -6092,4 +6094,4 @@ void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_
 
 }
 
-#endif
\ No newline at end of file
+#endif
diff --git a/Firmware/SdBaseFile.cpp b/Firmware/SdBaseFile.cpp
index dbcf77fb..be04ab1a 100644
--- a/Firmware/SdBaseFile.cpp
+++ b/Firmware/SdBaseFile.cpp
@@ -294,7 +294,7 @@ bool SdBaseFile::getFilename(char* name) {
   return true;
 }
 //------------------------------------------------------------------------------
-void SdBaseFile::getpos(fpos_t* pos) {
+void SdBaseFile::getpos(filepos_t* pos) {
   pos->position = curPosition_;
   pos->cluster = curCluster_;
 }
@@ -925,7 +925,7 @@ bool SdBaseFile::openRoot(SdVolume* vol) {
  * \return The byte if no error and not at eof else -1;
  */
 int SdBaseFile::peek() {
-  fpos_t pos;
+  filepos_t pos;
   getpos(&pos);
   int c = read();
   if (c >= 0) setpos(&pos);
@@ -1492,7 +1492,7 @@ bool SdBaseFile::seekSet(uint32_t pos) {
   return false;
 }
 //------------------------------------------------------------------------------
-void SdBaseFile::setpos(fpos_t* pos) {
+void SdBaseFile::setpos(filepos_t* pos) {
   curPosition_ = pos->position;
   curCluster_ = pos->cluster;
 }
diff --git a/Firmware/SdBaseFile.h b/Firmware/SdBaseFile.h
index dea299a6..ab73bf63 100644
--- a/Firmware/SdBaseFile.h
+++ b/Firmware/SdBaseFile.h
@@ -35,12 +35,12 @@
  * \brief internal type for istream
  * do not use in user apps
  */
-struct fpos_t {
+struct filepos_t {
   /** stream position */
   uint32_t position;
   /** cluster for position */
   uint32_t cluster;
-  fpos_t() : position(0), cluster(0) {}
+  filepos_t() : position(0), cluster(0) {}
 };
 
 // use the gnu style oflag in open()
@@ -196,11 +196,11 @@ class SdBaseFile {
   /** get position for streams
    * \param[out] pos struct to receive position
    */
-  void getpos(fpos_t* pos);
+  void getpos(filepos_t* pos);
   /** set position for streams
    * \param[out] pos struct with value for new position
    */
-  void setpos(fpos_t* pos);
+  void setpos(filepos_t* pos);
   //----------------------------------------------------------------------------
   bool close();
   bool contiguousRange(uint32_t* bgnBlock, uint32_t* endBlock);
diff --git a/Firmware/pins.h b/Firmware/pins.h
index 21975700..355c5951 100644
--- a/Firmware/pins.h
+++ b/Firmware/pins.h
@@ -385,10 +385,6 @@
 #define MOTOR_CURRENT_PWM_XY_PIN 46
 #define MOTOR_CURRENT_PWM_Z_PIN  45
 #define MOTOR_CURRENT_PWM_E_PIN  44
-//Motor current PWM conversion, PWM value = MotorCurrentSetting * 255 / range
-#define MOTOR_CURRENT_PWM_RANGE 2000
-#define DEFAULT_PWM_MOTOR_CURRENT  {1300, 1300, 1300}
-//#define DEFAULT_PWM_MOTOR_CURRENT  {1100, 1100, 1300}
 #define SDPOWER             -1
 #define SDSS                53
 #define LED_PIN             13
diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp
index c54848b9..1743d5e3 100644
--- a/Firmware/stepper.cpp
+++ b/Firmware/stepper.cpp
@@ -633,6 +633,61 @@ ISR(TIMER1_COMPA_vect)
   }
 }
 #ifdef HAVE_TMC2130_DRIVERS
+      uint32_t tmc2130_read(uint8_t chipselect, uint8_t address)
+      {
+          uint32_t val32;
+          uint8_t val0;
+          uint8_t val1;
+          uint8_t val2;
+          uint8_t val3;
+          uint8_t val4;
+
+          //datagram1 - read request (address + dummy write)
+          SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE3));
+          digitalWrite(chipselect,LOW);
+          SPI.transfer(address);
+          SPI.transfer(0);
+          SPI.transfer(0);
+          SPI.transfer(0);
+          SPI.transfer(0);
+          digitalWrite(chipselect, HIGH);
+          SPI.endTransaction();
+
+          //datagram2 - response
+          SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE3));
+          digitalWrite(chipselect,LOW);
+          val0 = SPI.transfer(0);
+          val1 = SPI.transfer(0);
+          val2 = SPI.transfer(0);
+          val3 = SPI.transfer(0);
+          val4 = SPI.transfer(0);
+          digitalWrite(chipselect, HIGH);
+          SPI.endTransaction();
+
+#ifdef TMC_DBG_READS
+          MYSERIAL.print("SPIRead 0x");
+          MYSERIAL.print(address,HEX);
+          MYSERIAL.print(" Status:");
+          MYSERIAL.print(val0 & 0b00000111,BIN);
+          MYSERIAL.print("  ");
+          MYSERIAL.print(val1,BIN);
+          MYSERIAL.print("  ");
+          MYSERIAL.print(val2,BIN);
+          MYSERIAL.print("  ");
+          MYSERIAL.print(val3,BIN);
+          MYSERIAL.print("  ");
+          MYSERIAL.print(val4,BIN);
+#endif
+
+          val32 = (uint32_t)val1<<24 | (uint32_t)val2<<16 | (uint32_t)val3<<8 | (uint32_t)val4;
+
+#ifdef TMC_DBG_READS
+          MYSERIAL.print(" 0x");
+          MYSERIAL.println(val32,HEX);
+#endif
+          return val32;
+      }
+
       void tmc2130_write(uint8_t chipselect, uint8_t address,uint8_t wval1,uint8_t wval2,uint8_t wval3,uint8_t wval4)
       {
           uint32_t val32;
@@ -738,6 +793,36 @@ ISR(TIMER1_COMPA_vect)
       {
           tmc2130_write(cs,0x13,0x00,0x00,0x00,0x00); // TMC LJ -> Adds possibility to swtich from stealthChop to spreadCycle automatically
       }
+
+      void tmc2130_disable_motor(uint8_t driver)
+      {
+          uint8_t cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
+          tmc2130_write(cs[driver],0x6C,0,01,0,0);
+      }
+
+      void tmc2130_check_overtemp()
+      {
+        const static char TMC_OVERTEMP_MSG[] PROGMEM = "TMC DRIVER OVERTEMP ";
+        uint8_t cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
+        static uint32_t checktime = 0;
+        //drivers_disabled[0] = 1; //TEST
+
+        if( millis() - checktime > 1000 ) {
+          for(int i=0;i<4;i++) {
+              uint32_t drv_status = tmc2130_read(cs[i], 0x6F); //0x6F DRV_STATUS
+
+              if(drv_status & ((uint32_t)1<<26)) { // BIT 26 - over temp prewarning ~120C (+-20C)
+                SERIAL_ERRORRPGM(TMC_OVERTEMP_MSG);
+                SERIAL_ECHOLN(i);
+
+                for(int x=0; x<4;x++) tmc2130_disable_motor(x);
+                kill(TMC_OVERTEMP_MSG);
+              }
+          }
+
+          checktime = millis();
+        }
+      }
       
 #endif //HAVE_TMC2130_DRIVERS
       
diff --git a/Firmware/stepper.h b/Firmware/stepper.h
index f39fa601..a56a341a 100644
--- a/Firmware/stepper.h
+++ b/Firmware/stepper.h
@@ -88,6 +88,10 @@ void digipot_current(uint8_t driver, int current);
 void microstep_init();
 void microstep_readings();
 
+#ifdef HAVE_TMC2130_DRIVERS
+void tmc2130_check_overtemp();
+#endif
+
 #ifdef BABYSTEPPING
   void babystep(const uint8_t axis,const bool direction); // perform a short step with a single stepper motor, outside of any convention
 #endif
diff --git a/Firmware/variants/1_75mm_MK2-EINY01-E3Dv6full.h b/Firmware/variants/1_75mm_MK2-EINY01-E3Dv6full.h
index 854e3ebe..3fde7ba4 100644
--- a/Firmware/variants/1_75mm_MK2-EINY01-E3Dv6full.h
+++ b/Firmware/variants/1_75mm_MK2-EINY01-E3Dv6full.h
@@ -24,7 +24,7 @@
  *------------------------------------*/
 
 // Steps per unit {X,Y,Z,E}
-#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,161.3*16}
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,161.3}
 
 // Endstop inverting
 const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
@@ -186,8 +186,8 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 // Motor Current settings for RAMBo mini PWM value = MotorCurrentSetting * 255 / range
 #if MOTHERBOARD == 102 || MOTHERBOARD == 302 || MOTHERBOARD == 300
 #define MOTOR_CURRENT_PWM_RANGE 2000
-#define DEFAULT_PWM_MOTOR_CURRENT  {270, 830, 450} // {XY,Z,E}
-#define DEFAULT_PWM_MOTOR_CURRENT_LOUD  {540, 830, 500} // {XY,Z,E}
+#define DEFAULT_PWM_MOTOR_CURRENT  {650, 750, 750} // {XY,Z,E}
+#define DEFAULT_PWM_MOTOR_CURRENT_LOUD  {650, 750, 750} // {XY,Z,E}
 #endif
 
 /*------------------------------------