diff --git a/src/libslic3r/GCode.cpp b/src/libslic3r/GCode.cpp
index 8c0e8bb4f5..3b5034bdad 100644
--- a/src/libslic3r/GCode.cpp
+++ b/src/libslic3r/GCode.cpp
@@ -3026,7 +3026,8 @@ static bool custom_gcode_sets_temperature(const std::string &gcode, const int mc
 void GCode::print_machine_envelope(GCodeOutputStream &file, Print &print)
 {
     const auto flavor = print.config().gcode_flavor.value;
-    if (flavor == gcfMarlinLegacy || flavor == gcfMarlinFirmware) {
+    if ((flavor == gcfMarlinLegacy || flavor == gcfMarlinFirmware || flavor == gcfRepRapFirmware) &&
+        print.config().emit_machine_limits_to_gcode.value == true) {
         int factor = flavor == gcfRepRapFirmware ? 60 : 1; // RRF M203 and M566 are in mm/min
         file.write_format("M201 X%d Y%d Z%d E%d\n",
             int(print.config().machine_max_acceleration_x.values.front() + 0.5),
@@ -3069,7 +3070,6 @@ void GCode::print_machine_envelope(GCodeOutputStream &file, Print &print)
             print.config().machine_max_jerk_y.values.front() * factor,
             print.config().machine_max_jerk_z.values.front() * factor,
             print.config().machine_max_jerk_e.values.front() * factor);
-
     }
 }
 
diff --git a/src/libslic3r/Preset.cpp b/src/libslic3r/Preset.cpp
index 127dc7aa57..89f1f49812 100644
--- a/src/libslic3r/Preset.cpp
+++ b/src/libslic3r/Preset.cpp
@@ -878,7 +878,7 @@ static std::vector<std::string> s_Preset_printer_options {
     "cooling_tube_retraction",
     "cooling_tube_length", "high_current_on_filament_swap", "parking_pos_retraction", "extra_loading_move", "purge_in_prime_tower", "enable_filament_ramming",
     "z_offset",
-    "disable_m73", "preferred_orientation"
+    "disable_m73", "preferred_orientation", "emit_machine_limits_to_gcode"
     };
 
 static std::vector<std::string> s_Preset_sla_print_options {
diff --git a/src/libslic3r/PrintConfig.cpp b/src/libslic3r/PrintConfig.cpp
index c3fafc6cb8..ae3df21c86 100644
--- a/src/libslic3r/PrintConfig.cpp
+++ b/src/libslic3r/PrintConfig.cpp
@@ -2564,6 +2564,14 @@ def = this->add("filament_loading_speed", coFloats);
     def->mode = comDevelop;
     def->set_default_value(new ConfigOptionBool(false));
 
+    def = this->add("emit_machine_limits_to_gcode", coBool);
+    def->label = L("Emit limits to G-code");
+    def->category = L("Machine limits");
+    def->tooltip  = L("If enabled, the machine limits will be emitted to G-code file.\nThis option will be ignored if the g-code flavor is "
+                       "set to Klipper.");
+    def->mode = comAdvanced;
+    def->set_default_value(new ConfigOptionBool(true));
+
     def = this->add("machine_pause_gcode", coString);
     def->label = L("Pause G-code");
     def->tooltip = L("This G-code will be used as a code for the pause print. User can insert pause G-code in gcode viewer");
diff --git a/src/libslic3r/PrintConfig.hpp b/src/libslic3r/PrintConfig.hpp
index 91993d3180..56fafb8b6e 100644
--- a/src/libslic3r/PrintConfig.hpp
+++ b/src/libslic3r/PrintConfig.hpp
@@ -907,6 +907,8 @@ PRINT_CONFIG_CLASS_DEFINE(
 PRINT_CONFIG_CLASS_DEFINE(
     MachineEnvelopeConfig,
 
+    // Orca: whether emit machine limits into the beginning of the G-code.
+    ((ConfigOptionBool,                 emit_machine_limits_to_gcode))
     // M201 X... Y... Z... E... [mm/sec^2]
     ((ConfigOptionFloats,               machine_max_acceleration_x))
     ((ConfigOptionFloats,               machine_max_acceleration_y))
diff --git a/src/slic3r/GUI/Tab.cpp b/src/slic3r/GUI/Tab.cpp
index 402a7ebeda..c94c8771cb 100644
--- a/src/slic3r/GUI/Tab.cpp
+++ b/src/slic3r/GUI/Tab.cpp
@@ -3684,6 +3684,8 @@ PageShp TabPrinter::build_kinematics_page()
 
         optgroup->append_line(line);
     }
+    auto optgroup = page->new_optgroup(L("Advanced"), "param_advanced");
+    optgroup->append_single_option_line("emit_machine_limits_to_gcode");
 
     const std::vector<std::string> speed_axes{
         "machine_max_speed_x",
@@ -3691,7 +3693,7 @@ PageShp TabPrinter::build_kinematics_page()
         "machine_max_speed_z",
         "machine_max_speed_e"
     };
-    auto optgroup = page->new_optgroup(L("Speed limitation"), "param_speed");
+    optgroup = page->new_optgroup(L("Speed limitation"), "param_speed");
         for (const std::string &speed_axis : speed_axes)	{
             append_option_line(optgroup, speed_axis);
         }