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diff --git a/Marlin/src/gcode/geometry/M206_M428.cpp b/Marlin/src/gcode/geometry/M206_M428.cpp
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+++ b/Marlin/src/gcode/geometry/M206_M428.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 HAS_M206_COMMAND
+
+#include "../gcode.h"
+#include "../../module/motion.h"
+#include "../../lcd/marlinui.h"
+#include "../../libs/buzzer.h"
+#include "../../MarlinCore.h"
+
+void m206_report() {
+  SERIAL_ECHOLNPAIR_P(PSTR("M206 X"), home_offset.x, SP_Y_STR, home_offset.y, SP_Z_STR, home_offset.z);
+}
+
+/**
+ * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
+ *
+ * *** @thinkyhead: I recommend deprecating M206 for SCARA in favor of M665.
+ * ***              M206 for SCARA will remain enabled in 1.1.x for compatibility.
+ * ***              In the 2.0 release, it will simply be disabled by default.
+ */
+void GcodeSuite::M206() {
+  LOOP_XYZ(i)
+    if (parser.seen(XYZ_CHAR(i)))
+      set_home_offset((AxisEnum)i, parser.value_linear_units());
+
+  #if ENABLED(MORGAN_SCARA)
+    if (parser.seen('T')) set_home_offset(A_AXIS, parser.value_float()); // Theta
+    if (parser.seen('P')) set_home_offset(B_AXIS, parser.value_float()); // Psi
+  #endif
+
+  if (!parser.seen("XYZ"))
+    m206_report();
+  else
+    report_current_position();
+}
+
+/**
+ * M428: Set home_offset based on the distance between the
+ *       current_position and the nearest "reference point."
+ *       If an axis is past center its endstop position
+ *       is the reference-point. Otherwise it uses 0. This allows
+ *       the Z offset to be set near the bed when using a max endstop.
+ *
+ *       M428 can't be used more than 2cm away from 0 or an endstop.
+ *
+ *       Use M206 to set these values directly.
+ */
+void GcodeSuite::M428() {
+  if (homing_needed_error()) return;
+
+  xyz_float_t diff;
+  LOOP_XYZ(i) {
+    diff[i] = base_home_pos((AxisEnum)i) - current_position[i];
+    if (!WITHIN(diff[i], -20, 20) && home_dir((AxisEnum)i) > 0)
+      diff[i] = -current_position[i];
+    if (!WITHIN(diff[i], -20, 20)) {
+      SERIAL_ERROR_MSG(STR_ERR_M428_TOO_FAR);
+      LCD_ALERTMESSAGEPGM_P(PSTR("Err: Too far!"));
+      BUZZ(200, 40);
+      return;
+    }
+  }
+
+  LOOP_XYZ(i) set_home_offset((AxisEnum)i, diff[i]);
+  report_current_position();
+  LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
+  BUZZ(100, 659);
+  BUZZ(100, 698);
+}
+
+#endif // HAS_M206_COMMAND