diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index af31e954e2..1e474bcc0c 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -1842,7 +1842,7 @@ menu_edit_type(unsigned long, long5, ftostr5, 0.01);
     lcd_move_y();
   }
   static void reprapworld_keypad_move_home() {
-    enqueue_and_echo_commands_P((PSTR("G28"))); // move all axis home
+    enqueue_and_echo_commands_P(PSTR("G28")); // move all axes home
   }
 #endif // REPRAPWORLD_KEYPAD
 
@@ -2091,13 +2091,22 @@ void lcd_update() {
     #if ENABLED(ULTIPANEL)
 
       #if ENABLED(REPRAPWORLD_KEYPAD)
-        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_MOVE_HOME)     reprapworld_keypad_move_home();
+
+        #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
+
+        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();
+        }
       #endif
 
       bool encoderPastThreshold = (abs(encoderDiff) >= ENCODER_PULSES_PER_STEP);
diff --git a/Marlin/ultralcd.h b/Marlin/ultralcd.h
index cbc5e05c46..61abf9cede 100644
--- a/Marlin/ultralcd.h
+++ b/Marlin/ultralcd.h
@@ -65,9 +65,6 @@
   #if ENABLED(ULTIPANEL)
     void lcd_buttons_update();
     extern volatile uint8_t buttons;  //the last checked buttons in a bit array.
-    #if ENABLED(REPRAPWORLD_KEYPAD)
-      extern volatile uint8_t buttons_reprapworld_keypad; // to store the keypad shift register values
-    #endif
   #else
     FORCE_INLINE void lcd_buttons_update() {}
   #endif
@@ -89,33 +86,52 @@
   void lcd_ignore_click(bool b=true);
   bool lcd_blink();
 
+  #if ENABLED(ULTIPANEL) && ENABLED(REPRAPWORLD_KEYPAD)
+
+    #define REPRAPWORLD_BTN_OFFSET 0 // bit offset into buttons for shift register values
+
+    #define BLEN_REPRAPWORLD_KEYPAD_F3     0
+    #define BLEN_REPRAPWORLD_KEYPAD_F2     1
+    #define BLEN_REPRAPWORLD_KEYPAD_F1     2
+    #define BLEN_REPRAPWORLD_KEYPAD_DOWN   3
+    #define BLEN_REPRAPWORLD_KEYPAD_RIGHT  4
+    #define BLEN_REPRAPWORLD_KEYPAD_MIDDLE 5
+    #define BLEN_REPRAPWORLD_KEYPAD_UP     6
+    #define BLEN_REPRAPWORLD_KEYPAD_LEFT   7
+
+    #define EN_REPRAPWORLD_KEYPAD_F3      (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_F3))
+    #define EN_REPRAPWORLD_KEYPAD_F2      (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_F2))
+    #define EN_REPRAPWORLD_KEYPAD_F1      (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_F1))
+    #define EN_REPRAPWORLD_KEYPAD_DOWN    (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_DOWN))
+    #define EN_REPRAPWORLD_KEYPAD_RIGHT   (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_RIGHT))
+    #define EN_REPRAPWORLD_KEYPAD_MIDDLE  (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_MIDDLE))
+    #define EN_REPRAPWORLD_KEYPAD_UP      (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_UP))
+    #define EN_REPRAPWORLD_KEYPAD_LEFT    (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_LEFT))
+
+    #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_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)
+
+  #endif //ULTIPANEL && REPRAPWORLD_KEYPAD
+
   #if ENABLED(NEWPANEL)
+
     #define EN_C (_BV(BLEN_C))
     #define EN_B (_BV(BLEN_B))
     #define EN_A (_BV(BLEN_A))
 
     #if ENABLED(REPRAPWORLD_KEYPAD)
-      #define EN_REPRAPWORLD_KEYPAD_F3 (_BV(BLEN_REPRAPWORLD_KEYPAD_F3))
-      #define EN_REPRAPWORLD_KEYPAD_F2 (_BV(BLEN_REPRAPWORLD_KEYPAD_F2))
-      #define EN_REPRAPWORLD_KEYPAD_F1 (_BV(BLEN_REPRAPWORLD_KEYPAD_F1))
-      #define EN_REPRAPWORLD_KEYPAD_UP (_BV(BLEN_REPRAPWORLD_KEYPAD_UP))
-      #define EN_REPRAPWORLD_KEYPAD_RIGHT (_BV(BLEN_REPRAPWORLD_KEYPAD_RIGHT))
-      #define EN_REPRAPWORLD_KEYPAD_MIDDLE (_BV(BLEN_REPRAPWORLD_KEYPAD_MIDDLE))
-      #define EN_REPRAPWORLD_KEYPAD_DOWN (_BV(BLEN_REPRAPWORLD_KEYPAD_DOWN))
-      #define EN_REPRAPWORLD_KEYPAD_LEFT (_BV(BLEN_REPRAPWORLD_KEYPAD_LEFT))
-
       #define LCD_CLICKED ((buttons&EN_C) || (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_F1))
-      #define REPRAPWORLD_KEYPAD_MOVE_Z_UP (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_F2)
-      #define REPRAPWORLD_KEYPAD_MOVE_Z_DOWN (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_F3)
-      #define REPRAPWORLD_KEYPAD_MOVE_X_LEFT (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_LEFT)
-      #define REPRAPWORLD_KEYPAD_MOVE_X_RIGHT (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_RIGHT)
-      #define REPRAPWORLD_KEYPAD_MOVE_Y_DOWN (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_DOWN)
-      #define REPRAPWORLD_KEYPAD_MOVE_Y_UP (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_UP)
-      #define REPRAPWORLD_KEYPAD_MOVE_HOME (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_MIDDLE)
     #else
       #define LCD_CLICKED (buttons&EN_C)
-    #endif //REPRAPWORLD_KEYPAD
-  #else
+    #endif
+
+  #else //!NEWPANEL
+
     //atomic, do not change
     #define B_LE (_BV(BL_LE))
     #define B_UP (_BV(BL_UP))
@@ -127,7 +143,8 @@
     #define EN_A (_BV(BLEN_A))
 
     #define LCD_CLICKED ((buttons&B_MI)||(buttons&B_ST))
-  #endif//NEWPANEL
+
+  #endif //!NEWPANEL
 
 #else //no LCD
   FORCE_INLINE void lcd_update() {}
diff --git a/Marlin/ultralcd_implementation_hitachi_HD44780.h b/Marlin/ultralcd_implementation_hitachi_HD44780.h
index 6fdee2a667..5fc0316d7e 100644
--- a/Marlin/ultralcd_implementation_hitachi_HD44780.h
+++ b/Marlin/ultralcd_implementation_hitachi_HD44780.h
@@ -98,31 +98,8 @@ extern volatile uint8_t buttons;  //an extended version of the last checked butt
     #endif
 
   #elif ENABLED(REPRAPWORLD_KEYPAD)
-    // define register bit values, don't change it
-    #define BLEN_REPRAPWORLD_KEYPAD_F3 0
-    #define BLEN_REPRAPWORLD_KEYPAD_F2 1
-    #define BLEN_REPRAPWORLD_KEYPAD_F1 2
-    #define BLEN_REPRAPWORLD_KEYPAD_UP 6
-    #define BLEN_REPRAPWORLD_KEYPAD_RIGHT 4
-    #define BLEN_REPRAPWORLD_KEYPAD_MIDDLE 5
-    #define BLEN_REPRAPWORLD_KEYPAD_DOWN 3
-    #define BLEN_REPRAPWORLD_KEYPAD_LEFT 7
 
-    #define REPRAPWORLD_BTN_OFFSET 0 // bit offset into buttons for shift register values
-
-    #define EN_REPRAPWORLD_KEYPAD_F3 (_BV(BLEN_REPRAPWORLD_KEYPAD_F3+REPRAPWORLD_BTN_OFFSET))
-    #define EN_REPRAPWORLD_KEYPAD_F2 (_BV(BLEN_REPRAPWORLD_KEYPAD_F2+REPRAPWORLD_BTN_OFFSET))
-    #define EN_REPRAPWORLD_KEYPAD_F1 (_BV(BLEN_REPRAPWORLD_KEYPAD_F1+REPRAPWORLD_BTN_OFFSET))
-    #define EN_REPRAPWORLD_KEYPAD_UP (_BV(BLEN_REPRAPWORLD_KEYPAD_UP+REPRAPWORLD_BTN_OFFSET))
-    #define EN_REPRAPWORLD_KEYPAD_RIGHT (_BV(BLEN_REPRAPWORLD_KEYPAD_RIGHT+REPRAPWORLD_BTN_OFFSET))
-    #define EN_REPRAPWORLD_KEYPAD_MIDDLE (_BV(BLEN_REPRAPWORLD_KEYPAD_MIDDLE+REPRAPWORLD_BTN_OFFSET))
-    #define EN_REPRAPWORLD_KEYPAD_DOWN (_BV(BLEN_REPRAPWORLD_KEYPAD_DOWN+REPRAPWORLD_BTN_OFFSET))
-    #define EN_REPRAPWORLD_KEYPAD_LEFT (_BV(BLEN_REPRAPWORLD_KEYPAD_LEFT+REPRAPWORLD_BTN_OFFSET))
-
-    //#define LCD_CLICKED ((buttons&EN_C) || (buttons&EN_REPRAPWORLD_KEYPAD_F1))
-    //#define REPRAPWORLD_KEYPAD_MOVE_Y_DOWN (buttons&EN_REPRAPWORLD_KEYPAD_DOWN)
-    //#define REPRAPWORLD_KEYPAD_MOVE_Y_UP (buttons&EN_REPRAPWORLD_KEYPAD_UP)
-    //#define REPRAPWORLD_KEYPAD_MOVE_HOME (buttons&EN_REPRAPWORLD_KEYPAD_MIDDLE)
+    // REPRAPWORLD_KEYPAD defined in ultralcd.h
 
   #elif ENABLED(NEWPANEL)
     #define LCD_CLICKED (buttons&EN_C)