diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 8947af157..ac93cb453 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -1160,7 +1160,7 @@
 // is pressed, a value of 10.0 means 10mm per click.
 //
 //#define REPRAPWORLD_KEYPAD
-//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 1.0
 
 //
 // RigidBot Panel V1.0
diff --git a/Marlin/example_configurations/Felix/Configuration.h b/Marlin/example_configurations/Felix/Configuration.h
index c3765b909..00662171c 100644
--- a/Marlin/example_configurations/Felix/Configuration.h
+++ b/Marlin/example_configurations/Felix/Configuration.h
@@ -1143,7 +1143,7 @@
 // is pressed, a value of 10.0 means 10mm per click.
 //
 //#define REPRAPWORLD_KEYPAD
-//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 1.0
 
 //
 // RigidBot Panel V1.0
diff --git a/Marlin/example_configurations/Felix/DUAL/Configuration.h b/Marlin/example_configurations/Felix/DUAL/Configuration.h
index 943b5483f..29cc3b051 100644
--- a/Marlin/example_configurations/Felix/DUAL/Configuration.h
+++ b/Marlin/example_configurations/Felix/DUAL/Configuration.h
@@ -1141,7 +1141,7 @@
 // is pressed, a value of 10.0 means 10mm per click.
 //
 //#define REPRAPWORLD_KEYPAD
-//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 1.0
 
 //
 // RigidBot Panel V1.0
diff --git a/Marlin/example_configurations/Hephestos/Configuration.h b/Marlin/example_configurations/Hephestos/Configuration.h
index 1834986c1..7b659c0bf 100644
--- a/Marlin/example_configurations/Hephestos/Configuration.h
+++ b/Marlin/example_configurations/Hephestos/Configuration.h
@@ -1152,7 +1152,7 @@
 // is pressed, a value of 10.0 means 10mm per click.
 //
 //#define REPRAPWORLD_KEYPAD
-//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 1.0
 
 //
 // RigidBot Panel V1.0
diff --git a/Marlin/example_configurations/Hephestos_2/Configuration.h b/Marlin/example_configurations/Hephestos_2/Configuration.h
index f08207385..9ce056a90 100644
--- a/Marlin/example_configurations/Hephestos_2/Configuration.h
+++ b/Marlin/example_configurations/Hephestos_2/Configuration.h
@@ -1154,7 +1154,7 @@
 // is pressed, a value of 10.0 means 10mm per click.
 //
 //#define REPRAPWORLD_KEYPAD
-//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 1.0
 
 //
 // RigidBot Panel V1.0
diff --git a/Marlin/example_configurations/K8200/Configuration.h b/Marlin/example_configurations/K8200/Configuration.h
index a46c98f08..0c4a27162 100644
--- a/Marlin/example_configurations/K8200/Configuration.h
+++ b/Marlin/example_configurations/K8200/Configuration.h
@@ -1177,7 +1177,7 @@
 // is pressed, a value of 10.0 means 10mm per click.
 //
 //#define REPRAPWORLD_KEYPAD
-//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 1.0
 
 //
 // RigidBot Panel V1.0
diff --git a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
index a48370e5f..8dab9e945 100644
--- a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
+++ b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
@@ -1160,7 +1160,7 @@
 // is pressed, a value of 10.0 means 10mm per click.
 //
 #define REPRAPWORLD_KEYPAD
-#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0
+#define REPRAPWORLD_KEYPAD_MOVE_STEP 1.0
 
 //
 // RigidBot Panel V1.0
diff --git a/Marlin/example_configurations/RigidBot/Configuration.h b/Marlin/example_configurations/RigidBot/Configuration.h
index bf8de78bd..1568ed873 100644
--- a/Marlin/example_configurations/RigidBot/Configuration.h
+++ b/Marlin/example_configurations/RigidBot/Configuration.h
@@ -1160,7 +1160,7 @@
 // is pressed, a value of 10.0 means 10mm per click.
 //
 //#define REPRAPWORLD_KEYPAD
-//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 1.0
 
 //
 // RigidBot Panel V1.0
diff --git a/Marlin/example_configurations/SCARA/Configuration.h b/Marlin/example_configurations/SCARA/Configuration.h
index 970ee8015..9123b2016 100644
--- a/Marlin/example_configurations/SCARA/Configuration.h
+++ b/Marlin/example_configurations/SCARA/Configuration.h
@@ -1168,7 +1168,7 @@
 // is pressed, a value of 10.0 means 10mm per click.
 //
 //#define REPRAPWORLD_KEYPAD
-//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 1.0
 
 //
 // RigidBot Panel V1.0
diff --git a/Marlin/example_configurations/TAZ4/Configuration.h b/Marlin/example_configurations/TAZ4/Configuration.h
index b9264323d..a4db05cb0 100644
--- a/Marlin/example_configurations/TAZ4/Configuration.h
+++ b/Marlin/example_configurations/TAZ4/Configuration.h
@@ -1181,7 +1181,7 @@
 // is pressed, a value of 10.0 means 10mm per click.
 //
 //#define REPRAPWORLD_KEYPAD
-//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 1.0
 
 //
 // RigidBot Panel V1.0
diff --git a/Marlin/example_configurations/WITBOX/Configuration.h b/Marlin/example_configurations/WITBOX/Configuration.h
index 8de68af4f..d700848b5 100644
--- a/Marlin/example_configurations/WITBOX/Configuration.h
+++ b/Marlin/example_configurations/WITBOX/Configuration.h
@@ -1152,7 +1152,7 @@
 // is pressed, a value of 10.0 means 10mm per click.
 //
 //#define REPRAPWORLD_KEYPAD
-//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 1.0
 
 //
 // RigidBot Panel V1.0
diff --git a/Marlin/example_configurations/adafruit/ST7565/Configuration.h b/Marlin/example_configurations/adafruit/ST7565/Configuration.h
index 6b5546eff..9c690416d 100644
--- a/Marlin/example_configurations/adafruit/ST7565/Configuration.h
+++ b/Marlin/example_configurations/adafruit/ST7565/Configuration.h
@@ -1160,7 +1160,7 @@
 // is pressed, a value of 10.0 means 10mm per click.
 //
 //#define REPRAPWORLD_KEYPAD
-//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 1.0
 
 //
 // RigidBot Panel V1.0
diff --git a/Marlin/example_configurations/delta/biv2.5/Configuration.h b/Marlin/example_configurations/delta/biv2.5/Configuration.h
index 0e6ab7cef..d0e8c37a1 100644
--- a/Marlin/example_configurations/delta/biv2.5/Configuration.h
+++ b/Marlin/example_configurations/delta/biv2.5/Configuration.h
@@ -1255,7 +1255,7 @@
 // is pressed, a value of 10.0 means 10mm per click.
 //
 //#define REPRAPWORLD_KEYPAD
-//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 1.0
 
 //
 // RigidBot Panel V1.0
diff --git a/Marlin/example_configurations/delta/generic/Configuration.h b/Marlin/example_configurations/delta/generic/Configuration.h
index 7e27d294c..1b81a1e54 100644
--- a/Marlin/example_configurations/delta/generic/Configuration.h
+++ b/Marlin/example_configurations/delta/generic/Configuration.h
@@ -1249,7 +1249,7 @@
 // is pressed, a value of 10.0 means 10mm per click.
 //
 //#define REPRAPWORLD_KEYPAD
-//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 1.0
 
 //
 // RigidBot Panel V1.0
diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
index 906a33e63..b26f2bd54 100644
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
@@ -1252,7 +1252,7 @@
 // is pressed, a value of 10.0 means 10mm per click.
 //
 //#define REPRAPWORLD_KEYPAD
-//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 1.0
 
 //
 // RigidBot Panel V1.0
diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration.h b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
index d36d8246b..b9b0eff1c 100644
--- a/Marlin/example_configurations/delta/kossel_pro/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
@@ -1252,7 +1252,7 @@
 // is pressed, a value of 10.0 means 10mm per click.
 //
 //#define REPRAPWORLD_KEYPAD
-//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 1.0
 
 //
 // RigidBot Panel V1.0
diff --git a/Marlin/example_configurations/delta/kossel_xl/Configuration.h b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
index d164dc72c..5739ac3da 100644
--- a/Marlin/example_configurations/delta/kossel_xl/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
@@ -1254,7 +1254,7 @@
 // is pressed, a value of 10.0 means 10mm per click.
 //
 //#define REPRAPWORLD_KEYPAD
-//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 1.0
 
 //
 // RigidBot Panel V1.0
diff --git a/Marlin/example_configurations/makibox/Configuration.h b/Marlin/example_configurations/makibox/Configuration.h
index 6ba372f05..a87caff14 100644
--- a/Marlin/example_configurations/makibox/Configuration.h
+++ b/Marlin/example_configurations/makibox/Configuration.h
@@ -1163,7 +1163,7 @@
 // is pressed, a value of 10.0 means 10mm per click.
 //
 //#define REPRAPWORLD_KEYPAD
-//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 1.0
 
 //
 // RigidBot Panel V1.0
diff --git a/Marlin/example_configurations/tvrrug/Round2/Configuration.h b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
index 2a723f23f..251fae1f1 100644
--- a/Marlin/example_configurations/tvrrug/Round2/Configuration.h
+++ b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
@@ -1154,7 +1154,7 @@
 // is pressed, a value of 10.0 means 10mm per click.
 //
 //#define REPRAPWORLD_KEYPAD
-//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 1.0
 
 //
 // RigidBot Panel V1.0
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index fbdcb8a40..02a0e3a22 100755
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -2295,6 +2295,7 @@ void kill_screen(const char* lcd_msg) {
       currentScreen = menu_edit_callback_ ## _name; \
       callbackFunc = callback; \
     }
+
   menu_edit_type(int, int3, itostr3, 1);
   menu_edit_type(float, float3, ftostr3, 1);
   menu_edit_type(float, float32, ftostr32, 100);
@@ -2310,42 +2311,25 @@ void kill_screen(const char* lcd_msg) {
    *
    */
   #if ENABLED(REPRAPWORLD_KEYPAD)
-    static void reprapworld_keypad_move_z_up() {
-      encoderPosition = 1;
+    static void _reprapworld_keypad_move(AxisEnum axis, int dir) {
       move_menu_scale = REPRAPWORLD_KEYPAD_MOVE_STEP;
-      lcd_move_z();
-    }
-    static void reprapworld_keypad_move_z_down() {
-      encoderPosition = -1;
-      move_menu_scale = REPRAPWORLD_KEYPAD_MOVE_STEP;
-      lcd_move_z();
-    }
-    static void reprapworld_keypad_move_x_left() {
-      encoderPosition = -1;
-      move_menu_scale = REPRAPWORLD_KEYPAD_MOVE_STEP;
-      lcd_move_x();
-    }
-    static void reprapworld_keypad_move_x_right() {
-      encoderPosition = 1;
-      move_menu_scale = REPRAPWORLD_KEYPAD_MOVE_STEP;
-      lcd_move_x();
-    }
-    static void reprapworld_keypad_move_y_down() {
-      encoderPosition = 1;
-      move_menu_scale = REPRAPWORLD_KEYPAD_MOVE_STEP;
-      lcd_move_y();
-    }
-    static void reprapworld_keypad_move_y_up() {
-      encoderPosition = -1;
-      move_menu_scale = REPRAPWORLD_KEYPAD_MOVE_STEP;
-      lcd_move_y();
-    }
-    static void reprapworld_keypad_move_home() {
-      enqueue_and_echo_commands_P(PSTR("G28")); // move all axes home
+      encoderPosition = dir;
+      switch (axis) {
+        case X_AXIS: lcd_move_x(); break;
+        case Y_AXIS: lcd_move_y(); break;
+        case Z_AXIS: lcd_move_z();
+      }
     }
+    static void reprapworld_keypad_move_z_up()    { _reprapworld_keypad_move(Z_AXIS,  1); }
+    static void reprapworld_keypad_move_z_down()  { _reprapworld_keypad_move(Z_AXIS, -1); }
+    static void reprapworld_keypad_move_x_left()  { _reprapworld_keypad_move(X_AXIS, -1); }
+    static void reprapworld_keypad_move_x_right() { _reprapworld_keypad_move(X_AXIS,  1); }
+    static void reprapworld_keypad_move_y_up()    { _reprapworld_keypad_move(Y_AXIS, -1); }
+    static void reprapworld_keypad_move_y_down()  { _reprapworld_keypad_move(Y_AXIS,  1); }
+    static void reprapworld_keypad_move_home()    { enqueue_and_echo_commands_P(PSTR("G28")); } // move all axes home and wait
+    static void reprapworld_keypad_move_menu()    { lcd_goto_screen(lcd_move_menu); }
   #endif // REPRAPWORLD_KEYPAD
 
-
   /**
    *
    * Audio feedback for controller clicks
@@ -2602,22 +2586,35 @@ void lcd_update() {
 
       #if ENABLED(REPRAPWORLD_KEYPAD)
 
-        #if ENABLED(DELTA) || ENABLED(SCARA)
-          #define _KEYPAD_MOVE_ALLOWED (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS])
-        #else
-          #define _KEYPAD_MOVE_ALLOWED true
-        #endif
+        static uint8_t keypad_debounce = 0;
 
-        if (REPRAPWORLD_KEYPAD_MOVE_HOME)       reprapworld_keypad_move_home();
-        if (_KEYPAD_MOVE_ALLOWED) {
-          if (REPRAPWORLD_KEYPAD_MOVE_Z_UP)     reprapworld_keypad_move_z_up();
-          if (REPRAPWORLD_KEYPAD_MOVE_Z_DOWN)   reprapworld_keypad_move_z_down();
-          if (REPRAPWORLD_KEYPAD_MOVE_X_LEFT)   reprapworld_keypad_move_x_left();
-          if (REPRAPWORLD_KEYPAD_MOVE_X_RIGHT)  reprapworld_keypad_move_x_right();
-          if (REPRAPWORLD_KEYPAD_MOVE_Y_DOWN)   reprapworld_keypad_move_y_down();
-          if (REPRAPWORLD_KEYPAD_MOVE_Y_UP)     reprapworld_keypad_move_y_up();
+        if (!REPRAPWORLD_KEYPAD_PRESSED) {
+          if (keypad_debounce > 0) keypad_debounce--;
         }
-      #endif
+        else if (!keypad_debounce) {
+          keypad_debounce = 2;
+
+          if (REPRAPWORLD_KEYPAD_MOVE_MENU)       reprapworld_keypad_move_menu();
+
+          #if DISABLED(DELTA) && Z_HOME_DIR == -1
+            if (REPRAPWORLD_KEYPAD_MOVE_Z_UP)     reprapworld_keypad_move_z_up();
+          #endif
+
+          if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) {
+            #if ENABLED(DELTA) || Z_HOME_DIR != -1
+              if (REPRAPWORLD_KEYPAD_MOVE_Z_UP)   reprapworld_keypad_move_z_up();
+            #endif
+            if (REPRAPWORLD_KEYPAD_MOVE_Z_DOWN)   reprapworld_keypad_move_z_down();
+            if (REPRAPWORLD_KEYPAD_MOVE_X_LEFT)   reprapworld_keypad_move_x_left();
+            if (REPRAPWORLD_KEYPAD_MOVE_X_RIGHT)  reprapworld_keypad_move_x_right();
+            if (REPRAPWORLD_KEYPAD_MOVE_Y_DOWN)   reprapworld_keypad_move_y_down();
+            if (REPRAPWORLD_KEYPAD_MOVE_Y_UP)     reprapworld_keypad_move_y_up();
+          }
+          else {
+            if (REPRAPWORLD_KEYPAD_MOVE_HOME)     reprapworld_keypad_move_home();
+          }
+        }
+      #endif // REPRAPWORLD_KEYPAD
 
       bool encoderPastThreshold = (abs(encoderDiff) >= ENCODER_PULSES_PER_STEP);
       if (encoderPastThreshold || LCD_CLICKED) {
@@ -2657,7 +2654,7 @@ void lcd_update() {
         return_to_status_ms = ms + LCD_TIMEOUT_TO_STATUS;
         lcdDrawUpdate = LCDVIEW_REDRAW_NOW;
       }
-    #endif //ULTIPANEL
+    #endif // ULTIPANEL
 
     // We arrive here every ~100ms when idling often enough.
     // Instead of tracking the changes simply redraw the Info Screen ~1 time a second.
diff --git a/Marlin/ultralcd.h b/Marlin/ultralcd.h
index ccb6f504d..457a70f51 100644
--- a/Marlin/ultralcd.h
+++ b/Marlin/ultralcd.h
@@ -117,12 +117,24 @@
 
     #define REPRAPWORLD_KEYPAD_MOVE_Z_DOWN  (buttons_reprapworld_keypad & EN_REPRAPWORLD_KEYPAD_F3)
     #define REPRAPWORLD_KEYPAD_MOVE_Z_UP    (buttons_reprapworld_keypad & EN_REPRAPWORLD_KEYPAD_F2)
+    #define REPRAPWORLD_KEYPAD_MOVE_MENU    (buttons_reprapworld_keypad & EN_REPRAPWORLD_KEYPAD_F1)
     #define REPRAPWORLD_KEYPAD_MOVE_Y_DOWN  (buttons_reprapworld_keypad & EN_REPRAPWORLD_KEYPAD_DOWN)
     #define REPRAPWORLD_KEYPAD_MOVE_X_RIGHT (buttons_reprapworld_keypad & EN_REPRAPWORLD_KEYPAD_RIGHT)
     #define REPRAPWORLD_KEYPAD_MOVE_HOME    (buttons_reprapworld_keypad & EN_REPRAPWORLD_KEYPAD_MIDDLE)
     #define REPRAPWORLD_KEYPAD_MOVE_Y_UP    (buttons_reprapworld_keypad & EN_REPRAPWORLD_KEYPAD_UP)
     #define REPRAPWORLD_KEYPAD_MOVE_X_LEFT  (buttons_reprapworld_keypad & EN_REPRAPWORLD_KEYPAD_LEFT)
 
+    #define REPRAPWORLD_KEYPAD_PRESSED      (buttons_reprapworld_keypad & ( \
+                                              EN_REPRAPWORLD_KEYPAD_F3 | \
+                                              EN_REPRAPWORLD_KEYPAD_F2 | \
+                                              EN_REPRAPWORLD_KEYPAD_F1 | \
+                                              EN_REPRAPWORLD_KEYPAD_DOWN | \
+                                              EN_REPRAPWORLD_KEYPAD_RIGHT | \
+                                              EN_REPRAPWORLD_KEYPAD_MIDDLE | \
+                                              EN_REPRAPWORLD_KEYPAD_UP | \
+                                              EN_REPRAPWORLD_KEYPAD_LEFT) \
+                                            )
+
   #endif // REPRAPWORLD_KEYPAD
 
   #if ENABLED(NEWPANEL)