diff --git a/Marlin/language_es.h b/Marlin/language_es.h
index 33c1595be..bec1394b6 100644
--- a/Marlin/language_es.h
+++ b/Marlin/language_es.h
@@ -104,7 +104,11 @@
 #define MSG_SELECT                          _UxGT("Seleccionar")
 #define MSG_ACC                             _UxGT("Aceleracion")
 #define MSG_JERK                            _UxGT("Jerk")
-#if IS_KINEMATIC
+#if IS_SCARA
+  #define MSG_VA_JERK                       _UxGT("Va-jerk")
+  #define MSG_VB_JERK                       _UxGT("Vb-jerk")
+  #define MSG_VC_JERK                       _UxGT("Vz-jerk")
+#elif IS_DELTA
   #define MSG_VA_JERK                       _UxGT("Va-jerk")
   #define MSG_VB_JERK                       _UxGT("Vb-jerk")
   #define MSG_VC_JERK                       _UxGT("Vc-jerk")
@@ -122,7 +126,11 @@
 #define MSG_A_RETRACT                       _UxGT("Acel. retrac.")
 #define MSG_A_TRAVEL                        _UxGT("Acel. Viaje")
 #define MSG_STEPS_PER_MM                    _UxGT("Pasos/mm")
-#if IS_KINEMATIC
+#if IS_SCARA
+  #define MSG_ASTEPS                        _UxGT("A pasos/deg")
+  #define MSG_BSTEPS                        _UxGT("B pasos/deg")
+  #define MSG_CSTEPS                        _UxGT("C pasos/mm")
+#elif IS_DELTA
   #define MSG_ASTEPS                        _UxGT("A pasos/mm")
   #define MSG_BSTEPS                        _UxGT("B pasos/mm")
   #define MSG_CSTEPS                        _UxGT("C pasos/mm")
diff --git a/Marlin/language_es_utf8.h b/Marlin/language_es_utf8.h
index 0fcdaa8f1..c47f96217 100644
--- a/Marlin/language_es_utf8.h
+++ b/Marlin/language_es_utf8.h
@@ -116,9 +116,19 @@
 #define MSG_A_RETRACT                       _UxGT("Acel. retrac.")
 #define MSG_A_TRAVEL                        _UxGT("Acel. Viaje")
 #define MSG_STEPS_PER_MM                    _UxGT("Pasos/mm")
-#define MSG_XSTEPS                          _UxGT("X pasos/mm")
-#define MSG_YSTEPS                          _UxGT("Y pasos/mm")
-#define MSG_ZSTEPS                          _UxGT("Z pasos/mm")
+#if IS_SCARA
+  #define MSG_ASTEPS                        _UxGT("A pasos/mm")
+  #define MSG_BSTEPS                        _UxGT("B pasos/mm")
+  #define MSG_CSTEPS                        _UxGT("Z pasos/mm")
+#elif IS_DELTA
+  #define MSG_ASTEPS                        _UxGT("A pasos/mm")
+  #define MSG_BSTEPS                        _UxGT("B pasos/mm")
+  #define MSG_CSTEPS                        _UxGT("C pasos/mm")
+#else
+  #define MSG_ASTEPS                        _UxGT("X pasos/mm")
+  #define MSG_BSTEPS                        _UxGT("Y pasos/mm")
+  #define MSG_CSTEPS                        _UxGT("Z pasos/mm")
+#endif
 #define MSG_ESTEPS                          _UxGT("E pasos/mm")
 #define MSG_E1STEPS                         _UxGT("E1 pasos/mm")
 #define MSG_E2STEPS                         _UxGT("E2 pasos/mm")