diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
index 9da891d87a..e6ac047576 100755
--- a/Firmware/Marlin_main.cpp
+++ b/Firmware/Marlin_main.cpp
@@ -6348,7 +6348,9 @@ SERIAL_PROTOCOLPGM("\n\n");
           }
           if (code_seen('S'))
           {
-              setTargetHotendSafe(code_value(), extruder);
+              if (!setTargetHotendSafe(code_value(), extruder)){ // Set the hotend temperature, unless we are stopped, in which case send an error (setTargetHotendSafe() returns true if it let the printer start heating, false otherwise)
+                SERIAL_PROTOCOLLNPGM("Hotend temperature not set because Stop() has been called. Use M999 to reset and try again.");
+              }
           }
           break;
     }
@@ -6371,7 +6373,12 @@ SERIAL_PROTOCOLPGM("\n\n");
        - `S` - Target temperature
     */
     case 140: 
-      if (code_seen('S')) setTargetBed(code_value());
+
+      if (code_seen('S')) {
+        if (!setTargetBed(code_value())) {
+          SERIAL_PROTOCOLLNPGM("Bed temperature not set because Stop() has been called. Use M999 to reset and try again.");
+        }
+      }
       break;
 
     /*!
@@ -6454,19 +6461,19 @@ SERIAL_PROTOCOLPGM("\n\n");
       if(setTargetedHotend(109, extruder)){
         break;
       }
+      bool set_heater_success = true; // Set to true by default to allow the program to continue if S or R are not sent
+      if (code_seen('S')) {
+        set_heater_success = setTargetHotendSafe(code_value(), extruder);
+      } else if (code_seen('R')) {
+        set_heater_success = setTargetHotendSafe(code_value(), extruder);
+      }
+      if (set_heater_success){
       LCD_MESSAGERPGM(_T(MSG_HEATING));
 	  heating_status = 1;
 	  if (farm_mode) { prusa_statistics(1); };
 
 #ifdef AUTOTEMP
         autotemp_enabled=false;
-      #endif
-      if (code_seen('S')) {
-          setTargetHotendSafe(code_value(), extruder);
-            } else if (code_seen('R')) {
-                setTargetHotendSafe(code_value(), extruder);
-      }
-      #ifdef AUTOTEMP
         if (code_seen('S')) autotemp_min=code_value();
         if (code_seen('B')) autotemp_max=code_value();
         if (code_seen('F'))
@@ -6494,7 +6501,10 @@ SERIAL_PROTOCOLPGM("\n\n");
         
         //starttime=_millis();
         previous_millis_cmd = _millis();
+      } else { // Stopped is therefore true, send a message over serial.
+        SERIAL_PROTOCOLLNPGM("Hotend temperature not set because Stop() has been called. Use M999 to reset and try again.");
       }
+    }
       break;
 
     /*!
@@ -6514,18 +6524,22 @@ SERIAL_PROTOCOLPGM("\n\n");
     #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
     {
         bool CooldownNoWait = false;
-        LCD_MESSAGERPGM(_T(MSG_BED_HEATING));
-		heating_status = 3;
-		if (farm_mode) { prusa_statistics(1); };
+        bool set_heater_success = true; // Set to true by default to allow the program to continue if S or R are not sent
         if (code_seen('S')) 
 		{
-          setTargetBed(code_value());
+          set_heater_success = setTargetBed(code_value());
           CooldownNoWait = true;
         } 
 		else if (code_seen('R')) 
 		{
-          setTargetBed(code_value());
+          set_heater_success = setTargetBed(code_value());
         }
+        if (set_heater_success){
+        
+        LCD_MESSAGERPGM(_T(MSG_BED_HEATING));
+		    heating_status = 3;
+		    if (farm_mode) { prusa_statistics(1); };
+
         codenum = _millis();
         
         cancel_heatup = false;
@@ -6558,6 +6572,9 @@ SERIAL_PROTOCOLPGM("\n\n");
 		heating_status = 4;
 
         previous_millis_cmd = _millis();
+        } else {
+          SERIAL_PROTOCOLLNPGM("Bed temperature not set because Stop() has been called. Use M999 to reset and try again.");
+        }
     }
     #endif
         break;
diff --git a/Firmware/temperature.h b/Firmware/temperature.h
index da88a53c06..89400b21a2 100755
--- a/Firmware/temperature.h
+++ b/Firmware/temperature.h
@@ -159,17 +159,22 @@ FORCE_INLINE float degTargetBed() {
 
 // Doesn't save FLASH when FORCE_INLINE removed.
 FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) {  
-  target_temperature[extruder] = celsius;
-  resetPID(extruder);
+  if (!IsStopped()){
+    target_temperature[extruder] = celsius;
+    resetPID(extruder);
+  }
 };
 
 // Doesn't save FLASH when not inlined.
-static inline void setTargetHotendSafe(const float &celsius, uint8_t extruder)
+static inline bool setTargetHotendSafe(const float &celsius, uint8_t extruder)
 {
-    if (extruder<EXTRUDERS) {
-      target_temperature[extruder] = celsius;
-      resetPID(extruder);
-    }
+    if (!IsStopped()){
+      if (extruder<EXTRUDERS) {
+        target_temperature[extruder] = celsius;
+        resetPID(extruder);
+      }
+      return true;
+    } else return false;
 }
 
 // Doesn't save FLASH when not inlined.
@@ -178,8 +183,11 @@ static inline void setAllTargetHotends(const float &celsius)
     for(int i=0;i<EXTRUDERS;i++) setTargetHotend(celsius,i);
 }
 
-FORCE_INLINE void setTargetBed(const float &celsius) {  
-  target_temperature_bed = celsius;
+FORCE_INLINE bool setTargetBed(const float &celsius) {  
+  if (!IsStopped()){
+    target_temperature_bed = celsius;
+    return true;
+  } else return false;
 };
 
 FORCE_INLINE bool isHeatingHotend(uint8_t extruder){  
diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index a12db7f483..a776cb9977 100755
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -6891,7 +6891,7 @@ static void lcd_main_menu()
 	MENU_ITEM_SUBMENU_P(_T(MSG_BABYSTEP_Z), lcd_babystep_z);//8
   }
 
-
+  if (!IsStopped()) {
   if ( moves_planned() || IS_SD_PRINTING || is_usb_printing || (lcd_commands_type == LcdCommands::Layer1Cal))
   {
     MENU_ITEM_SUBMENU_P(_i("Tune"), lcd_tune_menu);////MSG_TUNE
@@ -6899,6 +6899,7 @@ static void lcd_main_menu()
   {
     MENU_ITEM_SUBMENU_P(_i("Preheat"), lcd_preheat_menu);////MSG_PREHEAT
   }
+  }
 
 
   if(isPrintPaused && saved_printing_type == PRINTING_TYPE_USB)
@@ -6941,11 +6942,13 @@ static void lcd_main_menu()
 	{
 		if (!is_usb_printing && (lcd_commands_type != LcdCommands::Layer1Cal))
 		{
+			if (!IsStopped()) {
 			//if (farm_mode) MENU_ITEM_SUBMENU_P(MSG_FARM_CARD_MENU, lcd_farm_sdcard_menu);
 			/*else*/ {
                         bMain=true;               // flag ('fake parameter') for 'lcd_sdcard_menu()' function
                         MENU_ITEM_SUBMENU_P(_T(MSG_CARD_MENU), lcd_sdcard_menu);
                         }
+			}
 		}
 #if SDCARDDETECT < 1
       MENU_ITEM_GCODE_P(_i("Change SD card"), PSTR("M21"));  // SD-card changed by user////MSG_CNG_SDCARD
@@ -6985,6 +6988,7 @@ static void lcd_main_menu()
   } 
   else 
   {
+	if (!IsStopped()){
 	if (mmu_enabled)
 	{
 		MENU_ITEM_SUBMENU_P(_T(MSG_LOAD_FILAMENT), fil_load_menu);
@@ -7015,6 +7019,7 @@ static void lcd_main_menu()
           bFilamentFirstRun=true;
 		MENU_ITEM_SUBMENU_P(_T(MSG_UNLOAD_FILAMENT), lcd_unLoadFilament);
 	}
+	}
 	MENU_ITEM_SUBMENU_P(_T(MSG_SETTINGS), lcd_settings_menu);
     if(!isPrintPaused) MENU_ITEM_SUBMENU_P(_T(MSG_MENU_CALIBRATION), lcd_calibration_menu);
 
@@ -7325,6 +7330,7 @@ static void lcd_control_temperature_menu()
 
   MENU_BEGIN();
   MENU_ITEM_BACK_P(_T(MSG_SETTINGS));
+if (!IsStopped()) {
 #if TEMP_SENSOR_0 != 0
   MENU_ITEM_EDIT_int3_P(_T(MSG_NOZZLE), &target_temperature[0], 0, HEATER_0_MAXTEMP - 10);
 #endif
@@ -7337,6 +7343,7 @@ static void lcd_control_temperature_menu()
 #if TEMP_SENSOR_BED != 0
   MENU_ITEM_EDIT_int3_P(_T(MSG_BED), &target_temperature_bed, 0, BED_MAXTEMP - 3);
 #endif
+}
   MENU_ITEM_EDIT_int3_P(_T(MSG_FAN_SPEED), &fanSpeed, 0, 255);
 #if defined AUTOTEMP && (TEMP_SENSOR_0 != 0)
 //MENU_ITEM_EDIT removed, following code must be redesigned if AUTOTEMP enabled