diff --git a/README.md b/README.md
index f00ea4b23..1879415c8 100644
--- a/README.md
+++ b/README.md
@@ -42,13 +42,15 @@ Features merged into the master branch:
 
 - [virtual_sdcard: scanning of subdirectories](https://github.com/DangerKlippers/danger-klipper/pull/68) ([klipper#6327](https://github.com/Klipper3d/klipper/pull/6327))
 
+- [retraction: z_hop while retracting](https://github.com/DangerKlippers/danger-klipper/pull/83) ([klipper#6311](https://github.com/Klipper3d/klipper/pull/6311))
+
 - [core: git-untracked folder, plugins for user-plugins](https://github.com/DangerKlippers/danger-klipper/pull/82)
 
 - [danger_options: allow plugins to override conflicting extras](https://github.com/DangerKlippers/danger-klipper/pull/82)
 
 If you're feeling adventurous, take a peek at the extra features in the bleeding-edge branch:
 
-- [dmbutyugin's advanced-features branch](https://github.com/DangerKlippers/danger-klipper/pull/69) [dmbutyugin/advanced-features](https://github.com/dmbutyugin/klipper/commits/advanced-features)
+  - [dmbutyugin's advanced-features branch](https://github.com/DangerKlippers/danger-klipper/pull/69) [dmbutyugin/advanced-features](https://github.com/dmbutyugin/klipper/commits/advanced-features)
 
   - [stepper: high precision stepping protocol](https://github.com/DangerKlippers/danger-klipper/pull/69)
 
diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md
index 5a5f36e87..90a48d8b0 100644
--- a/docs/Config_Reference.md
+++ b/docs/Config_Reference.md
@@ -1581,17 +1581,35 @@ allowing per-filament settings and runtime tuning.
 
 ```
 [firmware_retraction]
-#retract_length: 0
-#   The length of filament (in mm) to retract when G10 is activated,
-#   and to unretract when G11 is activated (but see
-#   unretract_extra_length below). The default is 0 mm.
-#retract_speed: 20
-#   The speed of retraction, in mm/s. The default is 20 mm/s.
-#unretract_extra_length: 0
-#   The length (in mm) of *additional* filament to add when
-#   unretracting.
-#unretract_speed: 10
-#   The speed of unretraction, in mm/s. The default is 10 mm/s.
+#retract_length: 0.0
+#   The length of filament (in mm) to retract when a G10 command is
+#   executed. When a G11 command is executed, the unretract_length
+#   is the sum of the retract_length and the unretract_extra_length
+#   (see below). The minimum value and default are 0 mm, which
+#   disables firmware retraction.
+#retract_speed: 20.0
+#   The speed of filament retraction moves (in mm/s).
+#   This value is typically set relatively high (>40 mm/s),
+#   except for soft and/oozy filaments like TPU and PETG
+#   (20 to 30 mm/s). The minimum value is 1 mm/s, the default value
+#   is 20 mm/s.
+#unretract_extra_length: 0.0
+#   The *additional* length (in mm) to add or the length to subtract
+#   from the filament move when unretracting compared to the retract
+#   move length. This allows priming the nozzle (positive extra length)
+#   or delaying extrusion after unretracting (negative length). The
+#   latter may help reduce blobbing. The minimum value is -1 mm
+#   (2.41 mm3 volume for 1.75 mm filament), the default value is 0 mm.
+#unretract_speed: 10.0
+#   The speed of filament unretraction moves (in mm/s).
+#   This parameter is not particularly critical, although often lower
+#   than retract_speed. The minimum value is 1 mm/s, the default value
+#   is 10 mm/s.
+#z_hop_height: 0.0
+#   The vertical height by which the nozzle is lifted from the print to
+#   prevent collisions with the print during travel moves when retracted.
+#   The minimum value is 0 mm, the default value is 0 mm, which disables
+#   zhop moves.
 ```
 
 ### [gcode_arcs]
diff --git a/docs/G-Codes.md b/docs/G-Codes.md
index c4820944e..d066b6c7b 100644
--- a/docs/G-Codes.md
+++ b/docs/G-Codes.md
@@ -509,35 +509,70 @@ will be disabled, if set to 1 it is enabled.
 
 The following standard G-Code commands are available when the
 [firmware_retraction config section](Config_Reference.md#firmware_retraction)
-is enabled. These commands allow you to utilize the firmware
-retraction feature available in many slicers, to reduce stringing
-during non-extrusion moves from one part of the print to another.
-Appropriately configuring pressure advance reduces the length of
-retraction required.
-- `G10`: Retracts the extruder using the currently configured
-  parameters.
-- `G11`: Unretracts the extruder using the currently configured
-  parameters.
+is enabled. These commands allow utilizing the firmware
+retraction feature available in many slicers. Retraction is a strategy to
+reduce stringing during travel moves (non-extrusion) from one part of the
+print to another. Note that pressure advance should be properly configured
+before retraction parameters are tuned to ensure optimal results.
+- `G10`: Retracts the filament using the currently configured
+  parameters. If z_hop_height is set to a value greater zero,
+  besides retracting the filament, the nozzle is lifted by set value.
+- `G11`: Unretracts the filament using the currently configured
+  parameters. If z_hop_height is set to a value greater zero,
+  besides unretracting the filament, the nozzle is lowered back on the print
+  with a vertical movement.
 
 The following additional commands are also available.
 
 #### SET_RETRACTION
 `SET_RETRACTION [RETRACT_LENGTH=<mm>] [RETRACT_SPEED=<mm/s>]
-[UNRETRACT_EXTRA_LENGTH=<mm>] [UNRETRACT_SPEED=<mm/s>]`: Adjust the
-parameters used by firmware retraction. RETRACT_LENGTH determines the
-length of filament to retract and unretract. The speed of retraction
-is adjusted via RETRACT_SPEED, and is typically set relatively
-high. The speed of unretraction is adjusted via UNRETRACT_SPEED, and
-is not particularly critical, although often lower than RETRACT_SPEED.
-In some cases it is useful to add a small amount of additional length
-on unretraction, and this is set via UNRETRACT_EXTRA_LENGTH.
-SET_RETRACTION is commonly set as part of slicer per-filament
-configuration, as different filaments require different parameter
-settings.
+[UNRETRACT_EXTRA_LENGTH=<mm>] [UNRETRACT_SPEED=<mm/s>] [Z_HOP_HEIGHT=<mm>]`:
+Adjust the parameters used by firmware retraction. RETRACT_LENGTH determines the
+length of filament to retract (the minimum as well as standard value is 0 mm).
+RETRACT_SPEED determines the speed of the filament retraction move (the minimum
+value is 1 mm/s, the standard value is 20 mm/s). This value is typically set
+relatively high (>40 mm/s), except for soft and/or oozy filaments like TPU and
+PETG (20 to 30 mm/s).
+UNRETRACT_SPEED sets the speed of the filament unretract move (the minimum value
+is 1 mm/s, the standard value is 10 mm/s). This parameter is not particularly
+critical, although often lower than RETRACT_SPEED.
+UNRETRACT_EXTRA_LENGTH allows to add a small amount of length to the filament
+unretract move to prime the nozzle or to subtract a small amount of length from
+the filament unretract move to reduce blobbing at seams (the minimum value is
+-1 mm (2.41 mm3 volume for 1.75 mm filament), the standard value is 0 mm).
+Z_HOP_HEIGHT determines the vertical height by which the nozzle is lifted from
+the print to prevent collisions with the print during travel moves (the
+minimum value is 0 mm, the standard value is 0 mm, which disables Z-Hop moves).
+SET_RETRACTION is commonly set as part of slicer per-filament configuration, as
+different filaments require different parameter settings. The command can be
+issued at runtime.
 
 #### GET_RETRACTION
-`GET_RETRACTION`: Queries the current parameters used by firmware
-retraction and displays them on the terminal.
+`GET_RETRACTION`: Queries the current parameters used by the firmware retraction
+module as well as the retract state. RETRACT_LENGTH, RETRACT_SPEED,
+UNRETRACT_EXTRA_LENGTH, UNRETRACT_SPEED, Z_HOP_HEIGHT and RETRACTED (True, if
+retracted) are displayed on the terminal.
+
+#### CLEAR_RETRACTION
+`CLEAR_RETRACTION`: Clears the current retract state without extruder or
+motion system movement. All flags related to the retract state are reset to
+False and all changes to retraction parameters made via previous SET_RETRACTION
+commands are reset to config values.
+NOTE: The Module contains a lot of redundancy for safety to prevent undesired
+behavior. When printing from virtual SD Card, the printer state is monitored and
+retraction state is cleared if a print is started, canceled or finished or if a
+virtual SD card file is reset. When printing via GCode streaming (e.g. using
+OctoPrint), the retract state is cleared when the steppers are disabled (M84,
+typically part of end gcode and standard behavior of OctoPrint if a print is
+canceled) or the printer is homed (G28, typically part of start gcode). Hence,
+upon ending or canceling a print as well as starting a new print via GCode
+streaming or virtual SD card, the printer should always be in unretracted state.
+Nevertheless, it is recommended to add `CLEAR_RETRACTION` to your start and end
+gcode to make sure the retract state is reset before and after each print. If a
+print is finished or canceled while retracted and the retract state is not
+cleared, either via `CLEAR_RETRACTION` without filament or motion system
+movement or G11, the nozzle will stay above the requested z coordinate by the
+set z_hop_height.
 
 ### [force_move]
 
diff --git a/docs/Status_Reference.md b/docs/Status_Reference.md
index c17eb2924..ce39cf0c4 100644
--- a/docs/Status_Reference.md
+++ b/docs/Status_Reference.md
@@ -173,10 +173,20 @@ objects:
 
 The following information is available in the
 [firmware_retraction](Config_Reference.md#firmware_retraction) object:
-- `retract_length`, `retract_speed`, `unretract_extra_length`,
-  `unretract_speed`: The current settings for the firmware_retraction
-  module. These settings may differ from the config file if a
-  `SET_RETRACTION` command alters them.
+- `retract_length`: Current setting for length of filament retract moves.
+- `retract_speed`: Current setting for speed of filament retract moves.
+- `unretract_extra_length`: Current setting for additional length of filament
+  unretract moves (positive values will result in filament extrusion, while
+  negative values up to 1 mm (2.41 mm3 for 1.75 mm filament) will result in
+  lagging extrusion of filament).
+- `unretract_speed`: Current setting for speed of unretract moves of filament.
+- `unretract_length`: Unretract move length (sum of retract and extra unretract
+   length).
+- `z_hop_height`: Current setting for the height of nozzle lifting move (Z-Hop).
+- Above settings for the firmware_retraction module may differ from the
+  config file if a `SET_RETRACTION` command altered them. Additional information
+  available is as follows.
+- `retract_state`: Returns 'True' if filament is retracted.
 
 ## gcode_button
 
diff --git a/klippy/extras/firmware_retraction.py b/klippy/extras/firmware_retraction.py
index 960a9532f..909e1f291 100644
--- a/klippy/extras/firmware_retraction.py
+++ b/klippy/extras/firmware_retraction.py
@@ -1,26 +1,68 @@
 # Support for Marlin/Smoothie/Reprap style firmware retraction via G10/G11
+# Zhop funtionality includes:
+#   - Standard zhop (vertical move up, travel, vertical move down)
 #
+# Copyright (C) 2023  Florian-Patrice Nagel <flopana77@gmail.com>
 # Copyright (C) 2019  Len Trigg <lenbok@gmail.com>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 
+# Constants
+ZHOP_MOVE_SPEED_FRACTION = 0.8
+
 
 class FirmwareRetraction:
+    # Class init
     def __init__(self, config):
+        self.config_ref = config
         self.printer = config.get_printer()
-        self.retract_length = config.getfloat("retract_length", 0.0, minval=0.0)
-        self.retract_speed = config.getfloat("retract_speed", 20.0, minval=1)
-        self.unretract_extra_length = config.getfloat(
+        # Get retraction params from config, used also in clear retraction
+        self._get_config_params()
+        # Initialize variables
+        self.unretract_length = (
+            self.retract_length + self.unretract_extra_length
+        )
+        self.currentPos = []
+        self.currentZ = 0.0
+        self.z_hop_Z = 0.0  # Z coordinate of zhop move
+
+        self.is_retracted = False  # Retract state flag
+        self.vsdcard_paused = False  # VSDCard pause flag
+        self.G1_toggle_state = False  # G1 toggle state flag
+
+        # Get maximum printer move velocity for zhop moves
+        printer_config = config.getsection("printer")
+        self.max_vel = printer_config.getfloat("max_velocity")
+
+        self.printer.register_event_handler("klippy:ready", self._handle_ready)
+
+    # Helper method to get retraction parameters from config
+    def _get_config_params(self):
+        self.retract_length = self.config_ref.getfloat(
+            "retract_length", 0.0, minval=0.0
+        )
+        self.retract_speed = self.config_ref.getfloat(
+            "retract_speed", 20.0, minval=1
+        )
+        self.unretract_extra_length = self.config_ref.getfloat(
             "unretract_extra_length", 0.0, minval=0.0
         )
-        self.unretract_speed = config.getfloat(
+        self.unretract_speed = self.config_ref.getfloat(
             "unretract_speed", 10.0, minval=1
         )
-        self.unretract_length = (
-            self.retract_length + self.unretract_extra_length
+        # Zero min. and stand. zhop valueto ensure compatibility with macros
+        self.z_hop_height = self.config_ref.getfloat(
+            "z_hop_height", 0.0, minval=0.0
         )
-        self.is_retracted = False
+
+    # Helper method to register commands and instantiate required objects
+    def _handle_ready(self):
         self.gcode = self.printer.lookup_object("gcode")
+        self.gcode_move = self.printer.lookup_object("gcode_move")
+        self.toolhead = self.printer.lookup_object("toolhead")
+
+        # Register new G-code commands for setting/retrieving retraction
+        # parameters as well as clearing retraction state
         self.gcode.register_command(
             "SET_RETRACTION",
             self.cmd_SET_RETRACTION,
@@ -31,72 +73,334 @@ def __init__(self, config):
             self.cmd_GET_RETRACTION,
             desc=self.cmd_GET_RETRACTION_help,
         )
+        self.gcode.register_command(
+            "CLEAR_RETRACTION",
+            self.cmd_CLEAR_RETRACTION,
+            desc=self.cmd_CLEAR_RETRACTION_help,
+        )
+
+        # Register new G-code commands for firmware retraction/unretraction
         self.gcode.register_command("G10", self.cmd_G10)
         self.gcode.register_command("G11", self.cmd_G11)
 
+        # Register Events to clear retraction when a new print is started, an
+        # ongoing print is canceled or a print is finished
+        # GCode streaming mode (most commonly done via OctoPrint)
+        self.printer.register_event_handler(
+            "homing:homing_move_begin", self._evaluate_retraction
+        )
+        self.printer.register_event_handler(
+            "stepper_enable:motor_off", self._evaluate_retraction
+        )
+
+        # Virtual SD card mode (Mainsail, Fluidd and DWC2-to-Klipper default)
+        # Only register events if Virtual SD Card enabled
+        if self.config_ref.has_section("virtual_sdcard"):
+            self.vsdcard = self.printer.lookup_object("virtual_sdcard")
+            self.printer.register_event_handler(
+                "virtual_sdcard:reset_file", self._reset_pause_flag
+            )
+            self.printer.register_event_handler(
+                "print_stats:start_printing", self._evaluate_retraction
+            )
+            self.printer.register_event_handler(
+                "print_stats:complete_printing", self._evaluate_retraction
+            )
+            self.printer.register_event_handler(
+                "print_stats:cancelled_printing\
+                ",
+                self._reset_pause_flag,
+            )
+            self.printer.register_event_handler(
+                "print_stats:paused_printing", self._set_pause_flag
+            )
+
+    # Helper method to evaluate to clear retraction if certain events occur
+    # (must accept all arguments passed from event handlers)
+    def _evaluate_retraction(self, *args):
+        if self.is_retracted:  # Check if retracted
+            if self.vsdcard_paused:  # Check if VSDCard print paused
+                # Reset paused flag and hence do not clear retraction on
+                # resume command.
+                self.vsdcard_paused = False
+            else:
+                # If cancel command triggered pause event, clear retraction.
+                self._execute_clear_retraction()
+
+    # Helper method to return the current retraction parameters
     def get_status(self, eventtime):
         return {
             "retract_length": self.retract_length,
             "retract_speed": self.retract_speed,
             "unretract_extra_length": self.unretract_extra_length,
             "unretract_speed": self.unretract_speed,
+            "z_hop_height": self.z_hop_height,
+            "unretract_length": self.unretract_length,
+            "retract_state": self.is_retracted,
         }
 
+    # Helper method to reset pause flags and force evaluate retraction
+    def _reset_pause_flag(self, *args):
+        self.vsdcard_paused = False
+        self._evaluate_retraction()
+
+    # Helper method to set pause flag
+    def _set_pause_flag(self, *args):
+        self.vsdcard_paused = True
+
+    # Command to set the firmware retraction parameters
     cmd_SET_RETRACTION_help = "Set firmware retraction parameters"
 
     def cmd_SET_RETRACTION(self, gcmd):
+        if not self.is_retracted:  # Only execute command when unretracted
+            self._execute_set_retraction(gcmd)  # Execute command immediately
+        else:
+            self.gcode.respond_info(
+                "WARNING: Printer in retract state. SET_RETRACTION will not be\
+                    executed!"
+            )
+
+    # Helper to set retraction parameters if command is called
+    def _execute_set_retraction(self, gcmd):
         self.retract_length = gcmd.get_float(
             "RETRACT_LENGTH", self.retract_length, minval=0.0
         )
         self.retract_speed = gcmd.get_float(
-            "RETRACT_SPEED", self.retract_speed, minval=1
+            "RETRACT_SPEED", self.retract_speed, minval=1.0
         )
         self.unretract_extra_length = gcmd.get_float(
-            "UNRETRACT_EXTRA_LENGTH", self.unretract_extra_length, minval=0.0
+            "UNRETRACT_EXTRA_LENGTH", self.unretract_extra_length, minval=-1.0
         )
         self.unretract_speed = gcmd.get_float(
-            "UNRETRACT_SPEED", self.unretract_speed, minval=1
+            "UNRETRACT_SPEED", self.unretract_speed, minval=1.0
         )
+        self.z_hop_height = gcmd.get_float(
+            "Z_HOP_HEIGHT", self.z_hop_height, minval=0.0
+        )  # z_hop_height with 0mm min. to prevent nozzle crash
         self.unretract_length = (
             self.retract_length + self.unretract_extra_length
         )
-        self.is_retracted = False
 
+    # Command to report the current firmware retraction parameters
     cmd_GET_RETRACTION_help = "Report firmware retraction paramters"
 
     def cmd_GET_RETRACTION(self, gcmd):
         gcmd.respond_info(
-            "RETRACT_LENGTH=%.5f RETRACT_SPEED=%.5f"
-            " UNRETRACT_EXTRA_LENGTH=%.5f UNRETRACT_SPEED=%.5f"
+            "RETRACT_LENGTH=%.5f RETRACT_SPEED=%.5f "
+            "UNRETRACT_EXTRA_LENGTH=%.5f UNRETRACT_SPEED=%.5f "
+            " Z_HOP_HEIGHT=%.5f "
+            " RETRACTED=%s "
             % (
                 self.retract_length,
                 self.retract_speed,
                 self.unretract_extra_length,
                 self.unretract_speed,
+                self.z_hop_height,
+                self.is_retracted,
             )
         )
 
+    # Command to clear FW retraction (add to CANCEL macros at the beginning)
+    cmd_CLEAR_RETRACTION_help = "Clear retraction state without retract move \
+        or zhop, if enabled"
+
+    def cmd_CLEAR_RETRACTION(self, gcmd):
+        if self.is_retracted:
+            self._execute_clear_retraction()
+            gcmd.respond_info(
+                "Retraction was cleared and reset to config \
+                values. zhop is undone on next move."
+            )
+        else:
+            gcmd.respond_info(
+                "WARNING: Printer is not retracted. \
+                Command has been ignored!"
+            )
+
+    # Helper to clear retraction
+    def _execute_clear_retraction(self):
+        if self.z_hop_height > 0.0:
+            # Re-establish regular G1 command if zhop enabled.
+            # zhop will be reversed on next move with z coordinate
+            self._re_register_G1()
+            self.G1_toggle_state = False  # Prevent repeat re-register
+        self.is_retracted = False  # Reset retract flag to enable G10 command
+        self._get_config_params()  # Reset retraction parameters to config values
+
+    # Gcode Command G10 to perform firmware retraction
     def cmd_G10(self, gcmd):
-        if not self.is_retracted:
-            self.gcode.run_script_from_command(
+        retract_gcode = ""  # Reset retract string
+        zhop_gcode = ""  # Reset zhop move string
+
+        if self.retract_length == 0.0:  # Check if FW retraction enabled
+            gcmd.respond_info(
+                "Retraction length zero. Firmware retraction \
+                disabled. Command ignored!"
+            )
+        elif not self.is_retracted:  # If filament isn't retracted, build G-Code
+            # Incl move command if z_hop_height > 0
+            if self.z_hop_height > 0.0:
+                # Determine z coordinate for zhop move
+                self._set_zhop_move_params()
+                # Set zhop gcode move
+                zhop_gcode = ("G1 Z{:.5f} F{}\n").format(
+                    self.z_hop_Z,
+                    int(ZHOP_MOVE_SPEED_FRACTION * self.max_vel * 60),
+                )
+
+            retract_gcode = (
                 "SAVE_GCODE_STATE NAME=_retract_state\n"
                 "G91\n"
-                "G1 E-%.5f F%d\n"
+                "G1 E-{:.5f} F{}\n"  # Retract filament at retract speed
+                "G90\n"  # Switch to absolute mode (just in case)
+                "{}"
                 "RESTORE_GCODE_STATE NAME=_retract_state"
-                % (self.retract_length, self.retract_speed * 60)
+            ).format(
+                self.retract_length, int(self.retract_speed * 60), zhop_gcode
             )
+
+            self.gcode.run_script_from_command(retract_gcode)
             self.is_retracted = True
 
+            if self.z_hop_height > 0.0:
+                # Swap original G1 handlers if z_hop enabled to offset following
+                # moves in eiter absolute or relative mode
+                self._unregister_G1()
+                self.G1_toggle_state = (
+                    True  # Prevent repeat unregister with flag
+                )
+
+        else:
+            gcmd.respond_info("Printer is already retracted. Command ignored!")
+
+    # Helper to determine zhop coordinate
+    def _set_zhop_move_params(self):
+        self.currentPos = self._get_gcode_pos()
+        self.currentZ = self.currentPos[2]
+        self.z_hop_Z = self.currentZ + self.z_hop_height
+
+    # Helper to get current gcode position
+    def _get_gcode_pos(self):
+        # Get current gcode position for z_hop move if enabled
+        gcodestatus = self.gcode_move.get_status()
+        currentPos = gcodestatus["gcode_position"]
+        return currentPos
+
+    # GCode Command G11 to perform filament unretraction
     def cmd_G11(self, gcmd):
-        if self.is_retracted:
-            self.gcode.run_script_from_command(
-                "SAVE_GCODE_STATE NAME=_retract_state\n"
+        unretract_gcode = ""  # Reset unretract string
+        unzhop_gcode = ""  # Reset un-zhop move string
+
+        if self.retract_length == 0.0:  # Check if FW retraction enabled
+            gcmd.respond_info(
+                "Retraction length zero. Firmware retraction \
+                disabled. Command ignored!"
+            )
+        elif self.is_retracted:  # Check if the filament is retracted
+            if self.z_hop_height > 0.0:
+                self._re_register_G1()  # Restore G1 handlers if z_hop on
+                self.G1_toggle_state = False  # Prevent repeat re-register
+                # Set unzhop gcode move
+                unzhop_gcode = ("G1 Z-{:.5f} F{}\n").format(
+                    self.z_hop_height,
+                    int(ZHOP_MOVE_SPEED_FRACTION * self.max_vel * 60),
+                )
+
+            unretract_gcode = (
+                "SAVE_GCODE_STATE NAME=_unretract_state\n"
                 "G91\n"
-                "G1 E%.5f F%d\n"
-                "RESTORE_GCODE_STATE NAME=_retract_state"
-                % (self.unretract_length, self.unretract_speed * 60)
+                "{}"
+                "G1 E{:.5f} F{}\n"  # Unretract filament
+                "RESTORE_GCODE_STATE NAME=_unretract_state"
+            ).format(
+                unzhop_gcode,
+                self.unretract_length,
+                int(self.unretract_speed * 60),
+            )
+
+            self.gcode.run_script_from_command(unretract_gcode)
+            self.is_retracted = False  # Set the flag to filament unretracted
+        else:
+            gcmd.respond_info("Printer is not retracted. Command ignored!")
+
+    # Register new G1 command handler
+    def _unregister_G1(self):
+        # Change handler only if G1 command has not been toggled before
+        if not self.G1_toggle_state:
+            self._toggle_gcode_comms(
+                "G1.20140114",
+                "G1",
+                self._G1_zhop,
+                "G1 command that accounts for z hop when retracted",
+                self.G1_toggle_state,
+            )
+            self._toggle_gcode_comms(
+                "G0.20140114",
+                "G0",
+                self._G1_zhop,
+                "G0 command that accounts for z hop when retracted",
+                self.G1_toggle_state,
+            )
+
+    # Helper to toggle/untoggle command handlers and methods
+    def _toggle_gcode_comms(
+        self,
+        new_cmd_name,
+        old_cmd_name,
+        new_cmd_func,
+        new_cmd_desc,
+        toggle_state,
+    ):
+        # Unregister current method from current handler and store in prev_cmd
+        prev_cmd = self.gcode.register_command(old_cmd_name, None)
+        pdesc = 'Renamed builtin of "%s"' % old_cmd_name
+        if not toggle_state:
+            # Register prev method to toggled handler, indicate built-in command
+            self.gcode.register_command(new_cmd_name, prev_cmd, desc=pdesc)
+            self.gcode.register_command(
+                old_cmd_name, new_cmd_func, desc=new_cmd_desc
+            )  # Register toggled method to command handler
+        else:
+            # Unregister toggled command from the untoggled handler
+            self.gcode.register_command(new_cmd_name, new_cmd_func)
+            self.gcode.register_command(
+                new_cmd_name, prev_cmd, desc=new_cmd_desc
+            )  # Register untoggled method to untog handler
+
+    # G1 method that accounts for z-hop by altering the z-coordinates
+    # Offsets are not touched to prevent incompatibility issues with user macros
+    def _G1_zhop(self, gcmd):
+        params = gcmd.get_command_parameters()
+        is_relative = self._toolhead_is_relative()
+
+        if "Z" in params and not is_relative:
+            # In absolute, adjust Z param to account for Z-hop offset
+            params["Z"] = str(float(params["Z"]) + self.z_hop_height)
+            # In relative, don't adjust as Z-hop offset considered before
+
+        new_g1_command = "G1.20140114"
+        for key, value in params.items():
+            new_g1_command += " {0}{1}".format(key, value)
+
+        # Run originl G1 (renamed G1.20140114) with adjusted parameters
+        self.gcode.run_script_from_command(new_g1_command)
+
+    # Helper to get absolute/relative mode
+    def _toolhead_is_relative(self):
+        gcodestatus = self.gcode_move.get_status()
+        movemode = gcodestatus["absolute_coordinates"]
+        return not movemode
+
+    # Re-register old G1 command handler
+    def _re_register_G1(self):
+        # Change handler only if G1 command has been toggled before
+        if self.G1_toggle_state:
+            self._toggle_gcode_comms(
+                "G1", "G1.20140114", None, "cmd_G1_help", self.G1_toggle_state
+            )
+            self._toggle_gcode_comms(
+                "G0", "G0.20140114", None, "cmd_G1_help", self.G1_toggle_state
             )
-            self.is_retracted = False
 
 
 def load_config(config):
diff --git a/klippy/extras/print_stats.py b/klippy/extras/print_stats.py
index b75cfcbb9..cf02c0df8 100644
--- a/klippy/extras/print_stats.py
+++ b/klippy/extras/print_stats.py
@@ -7,12 +7,12 @@
 
 class PrintStats:
     def __init__(self, config):
-        printer = config.get_printer()
-        self.gcode_move = printer.load_object(config, "gcode_move")
-        self.reactor = printer.get_reactor()
+        self.printer = config.get_printer()
+        self.gcode_move = self.printer.load_object(config, "gcode_move")
+        self.reactor = self.printer.get_reactor()
         self.reset()
         # Register commands
-        self.gcode = printer.lookup_object("gcode")
+        self.gcode = self.printer.lookup_object("gcode")
         self.gcode.register_command(
             "SET_PRINT_STATS_INFO",
             self.cmd_SET_PRINT_STATS_INFO,
@@ -44,6 +44,7 @@ def note_start(self):
         gc_status = self.gcode_move.get_status(curtime)
         self.last_epos = gc_status["position"].e
         self.state = "printing"
+        self.printer.send_event("print_stats:start_printing")
         self.error_message = ""
 
     def note_pause(self):
@@ -54,15 +55,18 @@ def note_pause(self):
             self._update_filament_usage(curtime)
         if self.state != "error":
             self.state = "paused"
+            self.printer.send_event("print_stats:paused_printing")
 
     def note_complete(self):
         self._note_finish("complete")
+        self.printer.send_event("print_stats:complete_printing")
 
     def note_error(self, message):
         self._note_finish("error", message)
 
     def note_cancel(self):
         self._note_finish("cancelled")
+        self.printer.send_event("print_stats:cancelled_printing")
 
     def _note_finish(self, state, error_message=""):
         if self.print_start_time is None:
diff --git a/test/klippy/firmware_retraction_with_VSDCard.cfg b/test/klippy/firmware_retraction_with_VSDCard.cfg
new file mode 100644
index 000000000..6bd527fa5
--- /dev/null
+++ b/test/klippy/firmware_retraction_with_VSDCard.cfg
@@ -0,0 +1,120 @@
+# Config for firmware_retraction testing with Virtual SD Card module enabled
+[virtual_sdcard]
+path: test/klippy/sdcard_loop
+
+[display_status]
+
+[respond]
+default_type: command
+
+[firmware_retraction]
+retract_length: 3.0
+retract_speed: 45.0
+unretract_extra_length: 0.0
+unretract_speed: 45.0
+z_hop_height: 0.4
+
+[stepper_x]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE5
+position_endstop: 0
+position_max: 224
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+position_endstop: 0
+position_max: 220
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PD3
+position_endstop: 0
+position_max: 200
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 210
+min_extrude_temp: 0
+
+[heater_bed]
+heater_pin: PH5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK6
+control: watermark
+min_temp: 0
+max_temp: 110
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+[gcode_arcs]
+resolution: 0.1
+
+[homing_override]
+gcode:
+    G28 X0
+    G28 Y0
+    G1 X112 Y110
+    G28 Z0
+    G1 Z8
+
+[gcode_macro VERIFY_AXIS_POSITION]
+gcode:
+    {% set axis_name = params.AXIS %}
+    {% set expected_position = params.EXPECTED|float %}
+    {% set axisstate_verbose = False %}
+
+    {% set current_axis_position = printer.gcode_move.position[axis_name] %}
+
+    {% if current_axis_position != expected_position %}
+        {action_raise_error("Wrong axis position for %s. Expected %f, got %f"
+        % (axis_name, expected_position, current_axis_position))}
+    {% else %}
+      {% if axisstate_verbose %}
+        M118 Axis {axis_name} OK!
+      {% endif %}
+    {% endif %}
+
+[gcode_macro CHECK_RECTRACTION_CLEARED]
+gcode:
+  {% set retract_state = False %}
+  {% set retract_state = printer.firmware_retraction.retract_state %}
+  {% if retract_state == True %}
+    {action_raise_error("Retraction should be cleared!")}
+  {% endif%}
diff --git a/test/klippy/firmware_retraction_with_VSDCard.test b/test/klippy/firmware_retraction_with_VSDCard.test
new file mode 100644
index 000000000..45100cde4
--- /dev/null
+++ b/test/klippy/firmware_retraction_with_VSDCard.test
@@ -0,0 +1,212 @@
+# Tests Firmware retraction G10 and G11 with Virtual SD Card ENABLED
+
+DICTIONARY atmega2560.dict
+CONFIG firmware_retraction_with_VSDCard.cfg
+
+CLEAR_RETRACTION
+G90
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=0.0
+
+################################### CHECK DISABLED RETRACTION WITH ZHOP DISABLED
+G28
+SET_RETRACTION RETRACT_LENGTH=0.0 UNRETRACT_EXTRA_LENGTH=0.0 Z_HOP_HEIGHT=0.0
+G10
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=0.0
+G11
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=0.0
+
+############# CHECK RETRACTION CLEAR ON STEPPER DISABLE EVENT WITH ZHOP DISABLED
+SET_RETRACTION RETRACT_LENGTH=2.5 UNRETRACT_EXTRA_LENGTH=1.0 Z_HOP_HEIGHT=0.0
+G10
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-2.5
+M84
+CHECK_RECTRACTION_CLEARED
+
+###################### CHECK RETRACTION CLEAR ON HOMING EVENT WITH ZHOP DISABLED
+G28
+SET_RETRACTION RETRACT_LENGTH=2.5 UNRETRACT_EXTRA_LENGTH=1.0 Z_HOP_HEIGHT=0.0
+G10
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-5.0
+G28
+CHECK_RECTRACTION_CLEARED
+
+############## CHECK RETRACTION CLEAR ON STEPPER DISABLE EVENT WITH ZHOP ENABLED
+SET_RETRACTION RETRACT_LENGTH=2.5 UNRETRACT_EXTRA_LENGTH=1.0 Z_HOP_HEIGHT=2.0
+G10
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-7.5
+M84
+CHECK_RECTRACTION_CLEARED
+
+####################### CHECK RETRACTION CLEAR ON HOMING EVENT WITH ZHOP ENABLED
+G28
+SET_RETRACTION RETRACT_LENGTH=2.5 UNRETRACT_EXTRA_LENGTH=1.0 Z_HOP_HEIGHT=2.0
+G10
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-10.0
+G28
+CHECK_RECTRACTION_CLEARED
+
+############################################## SET PRINTER UP FOR MOVEMENT TESTS
+SET_RETRACTION RETRACT_LENGTH=2.5 UNRETRACT_EXTRA_LENGTH=1.0 Z_HOP_HEIGHT=0.0
+G1 X100.0 Y100.0 Z20.0
+G91
+G1 E10.0
+G90
+
+####################################################### TESTING FW WITHOUT Z_HOP
+
+# Unretract in unretract state
+G11
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=0.0
+
+# Retract in unretract state
+G10
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-2.5
+
+# Repeat Retract
+G10
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-2.5
+
+# Unretract in retract state
+G11
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
+
+# Second round: Retract in unretract state
+G10
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
+
+# Second round: Unretract in retract state
+G11
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=2.0
+# Compensate for second round
+G91
+G1 E-1.0
+G90
+
+###################################################### TESTING FW Z_HOP STANDARD
+
+SET_RETRACTION UNRETRACT_EXTRA_LENGTH=0.0
+SET_RETRACTION Z_HOP_HEIGHT=2.0
+
+# Retract with Standard zhop
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
+
+# Repeat retract with Standard zhop
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
+
+# Unretract with Standard zhop in retract state
+G11
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=20.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
+
+# Second round: Retract with Standard zhop
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
+
+# Second round: Unretract with Standard zhop in retract state
+G11
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=20.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
+
+#################################### TESTING CHANGE Z_HOP_HEIGHT WHILE RETRACTED
+
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
+SET_RETRACTION Z_HOP_HEIGHT=3.0
+G11
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=20.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
+
+################ TESTING MOVE Z WHILE RETRACTED WITH SWITCH TO RELATIVE AND BACK
+
+SET_RETRACTION Z_HOP_HEIGHT=2.0
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
+
+# Switch to relative mode while retracted
+G91
+G1 Z-10.0
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=12.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
+
+# Switch back to absolute mode
+G90
+G11
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=10.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
+
+################################################ TESTING MOVE XY WHILE RETRACTED
+
+# Test XY Move in Standard
+G1 Z20.0
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
+
+G1 X90.0 Y90.0
+VERIFY_AXIS_POSITION AXIS=x EXPECTED=90.0
+VERIFY_AXIS_POSITION AXIS=y EXPECTED=90.0
+
+G11
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=20.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
+
+G1 X100.0 Y100.0
+VERIFY_AXIS_POSITION AXIS=x EXPECTED=100.0
+VERIFY_AXIS_POSITION AXIS=y EXPECTED=100.0
+
+####################################################### TESTING CLEAR RETRACTION
+G1 X90.0 Y90.0 Z20.0
+
+# Test CLEAR_RETRACTION while unretracted
+CLEAR_RETRACTION
+
+# Test CLEAR_RETRACTION while retracted
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
+CLEAR_RETRACTION
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
+
+# Unretract after clearing retraction
+G11
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
+
+# Test CLEAR_RETRACTION while retracted, 2nd go
+SET_RETRACTION Z_HOP_HEIGHT=2.0
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=24.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-4.5
+CLEAR_RETRACTION
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=24.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-4.5
+
+# Unretract after clearing retraction and retracting
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=24.4
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-7.5
+G11
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=24.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-4.5
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=24.4
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-7.5
+
+# Test first move with z coordinate after retraction was cleared
+G1 X100.0 Y100.0 Z28.0
+VERIFY_AXIS_POSITION AXIS=x EXPECTED=100.0
+VERIFY_AXIS_POSITION AXIS=y EXPECTED=100.0
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=28.4
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-7.5
+G11
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=28.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-4.5
+M118 Test successful!
diff --git a/test/klippy/firmware_retraction_without_VSDCard.cfg b/test/klippy/firmware_retraction_without_VSDCard.cfg
new file mode 100644
index 000000000..7364eec9b
--- /dev/null
+++ b/test/klippy/firmware_retraction_without_VSDCard.cfg
@@ -0,0 +1,117 @@
+# Config for firmware_retraction testing with Virtual SD Card module disabled
+[display_status]
+
+[respond]
+default_type: command
+
+[firmware_retraction]
+retract_length: 3.0
+retract_speed: 45.0
+unretract_extra_length: 0.0
+unretract_speed: 45.0
+z_hop_height: 0.4
+
+[stepper_x]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE5
+position_endstop: 0
+position_max: 224
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+position_endstop: 0
+position_max: 220
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PD3
+position_endstop: 0
+position_max: 200
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 210
+min_extrude_temp: 0
+
+[heater_bed]
+heater_pin: PH5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK6
+control: watermark
+min_temp: 0
+max_temp: 110
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+[gcode_arcs]
+resolution: 0.1
+
+[homing_override]
+gcode:
+    G28 X0
+    G28 Y0
+    G1 X112 Y110
+    G28 Z0
+    G1 X112 Y110 Z8
+
+[gcode_macro VERIFY_AXIS_POSITION]
+gcode:
+    {% set axis_name = params.AXIS %}
+    {% set expected_position = params.EXPECTED|float %}
+    {% set axisstate_verbose = False %}
+
+    {% set current_axis_position = printer.gcode_move.position[axis_name] %}
+
+    {% if current_axis_position != expected_position %}
+        {action_raise_error("Wrong axis position for %s. Expected %f, got %f"
+        % (axis_name, expected_position, current_axis_position))}
+    {% else %}
+      {% if axisstate_verbose %}
+        M118 Axis {axis_name} OK!
+      {% endif %}
+    {% endif %}
+
+[gcode_macro CHECK_RECTRACTION_CLEARED]
+gcode:
+  {% set retract_state = False %}
+  {% set retract_state = printer.firmware_retraction.retract_state %}
+  {% if retract_state == True %}
+    {action_raise_error("Retraction should be cleared!")}
+  {% endif%}
diff --git a/test/klippy/firmware_retraction_without_VSDCard.test b/test/klippy/firmware_retraction_without_VSDCard.test
new file mode 100644
index 000000000..bea144032
--- /dev/null
+++ b/test/klippy/firmware_retraction_without_VSDCard.test
@@ -0,0 +1,212 @@
+# Tests Firmware retraction G10 and G11 with Virtual SD Card DISABLED
+
+DICTIONARY atmega2560.dict
+CONFIG firmware_retraction_without_VSDCard.cfg
+
+CLEAR_RETRACTION
+G90
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=0.0
+
+################################### CHECK DISABLED RETRACTION WITH ZHOP DISABLED
+G28
+SET_RETRACTION RETRACT_LENGTH=0.0 UNRETRACT_EXTRA_LENGTH=0.0 Z_HOP_HEIGHT=0.0
+G10
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=0.0
+G11
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=0.0
+
+############# CHECK RETRACTION CLEAR ON STEPPER DISABLE EVENT WITH ZHOP DISABLED
+SET_RETRACTION RETRACT_LENGTH=2.5 UNRETRACT_EXTRA_LENGTH=1.0 Z_HOP_HEIGHT=0.0
+G10
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-2.5
+M84
+CHECK_RECTRACTION_CLEARED
+
+###################### CHECK RETRACTION CLEAR ON HOMING EVENT WITH ZHOP DISABLED
+G28
+SET_RETRACTION RETRACT_LENGTH=2.5 UNRETRACT_EXTRA_LENGTH=1.0 Z_HOP_HEIGHT=0.0
+G10
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-5.0
+G28
+CHECK_RECTRACTION_CLEARED
+
+############## CHECK RETRACTION CLEAR ON STEPPER DISABLE EVENT WITH ZHOP ENABLED
+SET_RETRACTION RETRACT_LENGTH=2.5 UNRETRACT_EXTRA_LENGTH=1.0 Z_HOP_HEIGHT=2.0
+G10
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-7.5
+M84
+CHECK_RECTRACTION_CLEARED
+
+####################### CHECK RETRACTION CLEAR ON HOMING EVENT WITH ZHOP ENABLED
+G28
+SET_RETRACTION RETRACT_LENGTH=2.5 UNRETRACT_EXTRA_LENGTH=1.0 Z_HOP_HEIGHT=2.0
+G10
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-10.0
+G28
+CHECK_RECTRACTION_CLEARED
+
+############################################## SET PRINTER UP FOR MOVEMENT TESTS
+SET_RETRACTION RETRACT_LENGTH=2.5 UNRETRACT_EXTRA_LENGTH=1.0 Z_HOP_HEIGHT=0.0
+G1 X100.0 Y100.0 Z20.0
+G91
+G1 E10.0
+G90
+
+####################################################### TESTING FW WITHOUT Z_HOP
+
+# Unretract in unretract state
+G11
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=0.0
+
+# Retract in unretract state
+G10
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-2.5
+
+# Repeat Retract
+G10
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-2.5
+
+# Unretract in retract state
+G11
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
+
+# Second round: Retract in unretract state
+G10
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
+
+# Second round: Unretract in retract state
+G11
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=2.0
+# Compensate for second round
+G91
+G1 E-1.0
+G90
+
+###################################################### TESTING FW Z_HOP STANDARD
+
+SET_RETRACTION UNRETRACT_EXTRA_LENGTH=0.0
+SET_RETRACTION Z_HOP_HEIGHT=2.0
+
+# Retract with Standard zhop
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
+
+# Repeat retract with Standard zhop
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
+
+# Unretract with Standard zhop in retract state
+G11
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=20.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
+
+# Second round: Retract with Standard zhop
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
+
+# Second round: Unretract with Standard zhop in retract state
+G11
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=20.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
+
+#################################### TESTING CHANGE Z_HOP_HEIGHT WHILE RETRACTED
+
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
+SET_RETRACTION Z_HOP_HEIGHT=3.0
+G11
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=20.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
+
+################ TESTING MOVE Z WHILE RETRACTED WITH SWITCH TO RELATIVE AND BACK
+
+SET_RETRACTION Z_HOP_HEIGHT=2.0
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
+
+# Switch to relative mode while retracted
+G91
+G1 Z-10.0
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=12.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
+
+# Switch back to absolute mode
+G90
+G11
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=10.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
+
+################################################ TESTING MOVE XY WHILE RETRACTED
+
+# Test XY Move in Standard
+G1 Z20.0
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
+
+G1 X90.0 Y90.0
+VERIFY_AXIS_POSITION AXIS=x EXPECTED=90.0
+VERIFY_AXIS_POSITION AXIS=y EXPECTED=90.0
+
+G11
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=20.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
+
+G1 X100.0 Y100.0
+VERIFY_AXIS_POSITION AXIS=x EXPECTED=100.0
+VERIFY_AXIS_POSITION AXIS=y EXPECTED=100.0
+
+####################################################### TESTING CLEAR RETRACTION
+G1 X90.0 Y90.0 Z20.0
+
+# Test CLEAR_RETRACTION while unretracted
+CLEAR_RETRACTION
+
+# Test CLEAR_RETRACTION while retracted
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
+CLEAR_RETRACTION
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
+
+# Unretract after clearing retraction
+G11
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
+
+# Test CLEAR_RETRACTION while retracted, 2nd go
+SET_RETRACTION Z_HOP_HEIGHT=2.0
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=24.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-4.5
+CLEAR_RETRACTION
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=24.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-4.5
+
+# Unretract after clearing retraction and retracting
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=24.4
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-7.5
+G11
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=24.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-4.5
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=24.4
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-7.5
+
+# Test first move with z coordinate after retraction was cleared
+G1 X100.0 Y100.0 Z28.0
+VERIFY_AXIS_POSITION AXIS=x EXPECTED=100.0
+VERIFY_AXIS_POSITION AXIS=y EXPECTED=100.0
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=28.4
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-7.5
+G11
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=28.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-4.5
+M118 Test successful!