diff --git a/CHANGELOG.md b/CHANGELOG.md
index 346a9b0f7..6698a6991 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,6 +1,6 @@
 # Release Notes
 
-## 0.3.1 (unreleased)
+## 0.3.1 (21.03.2021)
 
 ### added
 
@@ -20,6 +20,8 @@
   [[#291]](https://github.com/BAMWelDX/weldx/pull/291)
 - use `pint` compatible array syntax in `IsoBaseGroove.to_profile()`
   methods [[#189]](https://github.com/BAMWelDX/weldx/pull/189)
+- CSM and LCS plot function get a `scale_vectors` parameter. It scales the plotted coordinate system vectors when using
+  matplotlib as backend [[#293]](https://github.com/BAMWelDX/weldx/pull/293)
 
 ### fixes
 
diff --git a/weldx/transformations/cs_manager.py b/weldx/transformations/cs_manager.py
index aac9d61fc..974c017d0 100644
--- a/weldx/transformations/cs_manager.py
+++ b/weldx/transformations/cs_manager.py
@@ -1745,6 +1745,7 @@ def plot(
         time: types_time_and_lcs = None,
         time_ref: pd.Timestamp = None,
         axes_equal: bool = False,
+        scale_vectors: Union[float, List, np.ndarray] = None,
         show_data_labels: bool = True,
         show_labels: bool = True,
         show_origins: bool = True,
@@ -1793,6 +1794,9 @@ def plot(
         axes_equal :
             (matplotlib only) If `True`, all axes are adjusted to cover an equally large
              range of value. That doesn't mean, that the limits are identical
+        scale_vectors :
+            (matplotlib only) A scaling factor or array to adjust the length of the
+            coordinate system vectors
         show_data_labels :
             (k3d only) If `True`, plotted data sets get labels with their names attached
             to them
@@ -1850,6 +1854,7 @@ def plot(
                 title=title,
                 limits=limits,
                 set_axes_equal=axes_equal,
+                scale_vectors=scale_vectors,
                 show_origins=show_origins,
                 show_trace=show_traces,
                 show_vectors=show_vectors,
diff --git a/weldx/transformations/local_cs.py b/weldx/transformations/local_cs.py
index 1146d0390..62b1720cd 100644
--- a/weldx/transformations/local_cs.py
+++ b/weldx/transformations/local_cs.py
@@ -4,7 +4,7 @@
 
 import warnings
 from copy import deepcopy
-from typing import TYPE_CHECKING, Union
+from typing import TYPE_CHECKING, List, Union
 
 import numpy as np
 import pandas as pd
@@ -836,6 +836,7 @@ def plot(
         time: types_time_and_lcs = None,
         time_ref: pd.Timestamp = None,
         time_index: int = None,
+        scale_vectors: Union[float, List, np.ndarray] = None,
         show_origin: bool = True,
         show_trace: bool = True,
         show_vectors: bool = True,
@@ -863,6 +864,8 @@ def plot(
         time_index: int
             If the coordinate system is time dependent, this parameter can be used to
             to select a specific key frame by its index.
+        scale_vectors :
+            A scaling factor or array to adjust the vector length
         show_origin: bool
             If `True`, a small dot with the assigned color will mark the coordinate
             systems' origin.
@@ -883,6 +886,7 @@ def plot(
             time=time,
             time_ref=time_ref,
             time_index=time_index,
+            scale_vectors=scale_vectors,
             show_origin=show_origin,
             show_trace=show_trace,
             show_vectors=show_vectors,
diff --git a/weldx/visualization/matplotlib_impl.py b/weldx/visualization/matplotlib_impl.py
index 3f94ee9cb..8bb581469 100644
--- a/weldx/visualization/matplotlib_impl.py
+++ b/weldx/visualization/matplotlib_impl.py
@@ -95,6 +95,7 @@ def draw_coordinate_system_matplotlib(
     color: Any = None,
     label: str = None,
     time_idx: int = None,
+    scale_vectors: Union[float, List, np.ndarray] = None,
     show_origin: bool = True,
     show_vectors: bool = True,
 ):
@@ -115,6 +116,8 @@ def draw_coordinate_system_matplotlib(
     time_idx :
         Selects time dependent data by index if the coordinate system has
         a time dependency.
+    scale_vectors :
+        A scaling factor or array to adjust the vector length
     show_origin :
         If `True`, the origin of the coordinate system will be highlighted in the
         color passed as another parameter
@@ -137,10 +140,23 @@ def draw_coordinate_system_matplotlib(
     p_0 = dsx.coordinates
 
     if show_vectors:
-        orientation = dsx.orientation
-        p_x = p_0 + orientation[:, 0]
-        p_y = p_0 + orientation[:, 1]
-        p_z = p_0 + orientation[:, 2]
+        if scale_vectors is None:
+            tips = dsx.orientation
+        else:
+            if not isinstance(scale_vectors, np.ndarray):
+                if isinstance(scale_vectors, List):
+                    scale_vectors = np.array(scale_vectors)
+                else:
+                    scale_vectors = np.array([scale_vectors for _ in range(3)])
+
+            scale_mat = np.eye(3, 3)
+            for i in range(3):
+                scale_mat[i, i] = scale_vectors[i]
+            tips = np.matmul(scale_mat, dsx.orientation.data)
+
+        p_x = p_0 + tips[:, 0]
+        p_y = p_0 + tips[:, 1]
+        p_z = p_0 + tips[:, 2]
 
         axes.plot([p_0[0], p_x[0]], [p_0[1], p_x[1]], [p_0[2], p_x[2]], "r")
         axes.plot([p_0[0], p_y[0]], [p_0[1], p_y[1]], [p_0[2], p_y[2]], "g")
@@ -160,6 +176,7 @@ def plot_local_coordinate_system_matplotlib(
     time: types_timeindex = None,
     time_ref: pd.Timestamp = None,
     time_index: int = None,
+    scale_vectors: Union[float, List, np.ndarray] = None,
     show_origin: bool = True,
     show_trace: bool = True,
     show_vectors: bool = True,
@@ -183,6 +200,8 @@ def plot_local_coordinate_system_matplotlib(
         `pandas.TimedeltaIndex`
     time_index :
         Index of a specific time step that should be plotted
+    scale_vectors :
+        A scaling factor or array to adjust the vector length
     show_origin :
         If `True`, the origin of the coordinate system will be highlighted in the
         color passed as another parameter
@@ -212,6 +231,7 @@ def plot_local_coordinate_system_matplotlib(
                 color=color,
                 label=label,
                 time_idx=i,
+                scale_vectors=scale_vectors,
                 show_origin=show_origin,
                 show_vectors=show_vectors,
             )
@@ -223,6 +243,7 @@ def plot_local_coordinate_system_matplotlib(
             color=color,
             label=label,
             time_idx=time_index,
+            scale_vectors=scale_vectors,
             show_origin=show_origin,
             show_vectors=show_vectors,
         )
@@ -333,6 +354,7 @@ def plot_coordinate_system_manager_matplotlib(
     time_ref: pd.Timestamp = None,
     title: str = None,
     limits: types_limits = None,
+    scale_vectors: Union[float, List, np.ndarray] = None,
     set_axes_equal: bool = False,
     show_origins: bool = True,
     show_trace: bool = True,
@@ -374,6 +396,8 @@ def plot_coordinate_system_manager_matplotlib(
         Each tuple marks lower and upper boundary of the x, y and z axis. If only a
         single tuple is passed, the boundaries are used for all axis. If `None`
         is provided, the axis are adjusted to be of equal length.
+    scale_vectors :
+        A scaling factor or array to adjust the length of the coordinate system vectors
     set_axes_equal :
         (matplotlib only) If `True`, all axes are adjusted to cover an equally large
          range of value. That doesn't mean, that the limits are identical
@@ -428,6 +452,7 @@ def plot_coordinate_system_manager_matplotlib(
             axes=axes,
             color=color,
             label=lcs_name,
+            scale_vectors=scale_vectors,
             show_origin=show_origins,
             show_trace=show_trace,
             show_vectors=show_vectors,