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diff --git a/Marlin/src/gcode/calibrate/M665.cpp b/Marlin/src/gcode/calibrate/M665.cpp
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if IS_KINEMATIC
+
+#include "../gcode.h"
+#include "../../module/motion.h"
+
+#if ENABLED(DELTA)
+
+  #include "../../module/delta.h"
+  /**
+   * M665: Set delta configurations
+   *
+   *    H = delta height
+   *    L = diagonal rod
+   *    R = delta radius
+   *    S = segments per second
+   *    X = Alpha (Tower 1) angle trim
+   *    Y = Beta  (Tower 2) angle trim
+   *    Z = Gamma (Tower 3) angle trim
+   *    A = Alpha (Tower 1) digonal rod trim
+   *    B = Beta  (Tower 2) digonal rod trim
+   *    C = Gamma (Tower 3) digonal rod trim
+   */
+  void GcodeSuite::M665() {
+    if (parser.seen('H')) delta_height              = parser.value_linear_units();
+    if (parser.seen('L')) delta_diagonal_rod        = parser.value_linear_units();
+    if (parser.seen('R')) delta_radius              = parser.value_linear_units();
+    if (parser.seen('S')) delta_segments_per_second = parser.value_float();
+    if (parser.seen('X')) delta_tower_angle_trim.a  = parser.value_float();
+    if (parser.seen('Y')) delta_tower_angle_trim.b  = parser.value_float();
+    if (parser.seen('Z')) delta_tower_angle_trim.c  = parser.value_float();
+    if (parser.seen('A')) delta_diagonal_rod_trim.a = parser.value_float();
+    if (parser.seen('B')) delta_diagonal_rod_trim.b = parser.value_float();
+    if (parser.seen('C')) delta_diagonal_rod_trim.c = parser.value_float();
+    recalc_delta_settings();
+  }
+
+#elif IS_SCARA
+
+  #include "../../module/scara.h"
+
+  /**
+   * M665: Set SCARA settings
+   *
+   * Parameters:
+   *
+   *   S[segments-per-second] - Segments-per-second
+   *   P[theta-psi-offset]    - Theta-Psi offset, added to the shoulder (A/X) angle
+   *   T[theta-offset]        - Theta     offset, added to the elbow    (B/Y) angle
+   *   Z[z-offset]            - Z offset, added to Z
+   *
+   *   A, P, and X are all aliases for the shoulder angle
+   *   B, T, and Y are all aliases for the elbow angle
+   */
+  void GcodeSuite::M665() {
+    if (parser.seenval('S')) delta_segments_per_second = parser.value_float();
+
+    #if HAS_SCARA_OFFSET
+
+      if (parser.seenval('Z')) scara_home_offset.z = parser.value_linear_units();
+
+      const bool hasA = parser.seenval('A'), hasP = parser.seenval('P'), hasX = parser.seenval('X');
+      const uint8_t sumAPX = hasA + hasP + hasX;
+      if (sumAPX) {
+        if (sumAPX == 1)
+          scara_home_offset.a = parser.value_float();
+        else {
+          SERIAL_ERROR_MSG("Only one of A, P, or X is allowed.");
+          return;
+        }
+      }
+
+      const bool hasB = parser.seenval('B'), hasT = parser.seenval('T'), hasY = parser.seenval('Y');
+      const uint8_t sumBTY = hasB + hasT + hasY;
+      if (sumBTY) {
+        if (sumBTY == 1)
+          scara_home_offset.b = parser.value_float();
+        else {
+          SERIAL_ERROR_MSG("Only one of B, T, or Y is allowed.");
+          return;
+        }
+      }
+
+    #endif // HAS_SCARA_OFFSET
+  }
+
+#endif
+
+#endif // IS_KINEMATIC