5.0.0 Firmware for Original Prusa MK4 & MK3.9

Es gibt eine neue Firmware Version seitens Prusa zu vermelden, wobei diese sich eher auf die “neueren” Drucker bezieht. Die ältere Generation wird hierbei nicht beachtet. Dabei handelt es sich um recht interessante Verbesserungen. Hierbei wird die interessanteste Verbesserung das Input Shaper sein. Aber wie man mich kennt, rede ich nicht lange um den heißen Brei, sondern präsentiere Euch wie immer den Changelog.


  • Input Shaper and Pressure Advance
  • PrusaSlicer 2.6.0 and print profiles
  • G-code compatibility
  • Support for MK3.9
  • Language translations
  • Bug fixes

This is the stable release of firmware 5.0.0 with Input Shaper for the Original Prusa MK4 and MK3.9, featuring major changes and improvements to the code and user interface. This release is recommended to all users.

Please note that the Input Shaper for Original Prusa XL (single and multi-tool) is part of a different development branch. Internal tests are underway, and a public testing release is expected very soon.

There were several testing stages preceding this release. Full release notes are listed below, while this text is an overall summary.

Input Shaper and Pressure Advance

Input Shaper is a feature designed to reduce ringing (also known as ghosting) by canceling resonance vibrations. It works by analyzing the printer’s movements and applying a filter to the input signals. Thanks to faster travel speed and acceleration, it can also minimize stringing. It also enables faster printing.

Pressure Advance is another important addition to the firmware’s set of features. This function aims to improve the quality of printed parts by compensating for the pressure changes in the nozzle during printing. Pressure Advance together with Input Shaper enables the printing of better-looking models, reducing ringing, overshoots and issues with inconsistent filament extrusion. They also enable faster printing.

Precise stepping is a new implementation of the stepper routine, that allows precise timing of motor steps. It was a necessary prerequisite for both Input shaper and Pressure advance.

PrusaSlicer 2.6.0 and print profiles

Input Shaper is just one part of the equation. You also need to supply “input-shaped” G-codes to the printer with all the necessary information included. First, make sure you have downloaded PrusaSlicer (PS) release 2.6.0 or newer.

Second, from the PrusaSlicer’s menu select Configuration -> Configuration Wizard. Proceed to select the Prusa FFF printers. There are two printers to choose from:

  • Original Prusa MK4 – older set of profiles for firmware before 5.0.0. You can deselect it, so that it disappears from your selection while slicing.
  • Original Prusa MK4 Input Shaper – select this printer to get full compatibility with the release 5.0.0 and newer.

Starting with the Input Shaper, there will be two profiles for the most common layer heights:

  • Structural – settings are focused on quality, precision and structural integrity while retaining reasonably high printing speed (still much faster than pre-input-shaper era). Looking for high-quality and durable prints delivered quickly? This is your go-to option.
  • Speed – short printing times are the top priority here. This profile pushes the printer closer to its limits while keeping good quality and accuracy.

To read some more information about PS profiles, please visit the 5.0.0-RC release.

G-code compatibility

G-codes sliced for MK4 before the Input Shaper era are compatible with release 5.0.0, however, they aren’t using the new firmware to its full potential. Therefore, if you are printing older G-codes frequently, it is highly recommended to reslice them. You will get all the benefits listed above.

Support for MK3.9

The MK3.9 is a new addition to the Prusa family of printers. Most of the components are shared with the MK4, however, the motors for the X, Y and Z-axis are different. This brought some challenges to the firmware team and resulted in an automated check, which will decide whether your printer is MK4 or MK3.9.

This check happens during the initial calibration Wizard. However, you can also change it later on from the printer’s menu by going to Settings -> Hardware -> Printer Type [MK4/MK3.9].

It is not recommended to experiment with the printer by selecting the opposite type of the printer you currently have. The firmware will expect different motors and send incorrect commands.

Also, please note that due to this change, there is a new motor sensitivity calibration procedure happening during the Selftest or homing, which might be a little noisy (mostly when the printer is checking for the end of each Axis), however, this is normal and expected.

Language translations

A brand new feature, which wasn’t included in any of the previous releases is support for additional languages. Starting this release you can switch from English to Czech, Polish, German, Spanish, Italian and French.

The translations were checked multiple times by our translators and native speakers within the company, however, if you find any issues or confusing expressions, please let us know using Github Issues.

Bug fixes

  • Flickering of the footer during the Selftest is fixed.
  • Red screens are now accompanied by a distinct sound alarm.
  • Selftest is now able to identify invalid measurements of the Y-axis on all xBuddy board revisions.
  • We also eliminated a rare race condition that could result in the printer selecting an incorrect file for recovery after Power Panic.

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