diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 3a00846d93..fd3d371a2c 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -5116,20 +5116,8 @@ static void report_current_position() {
   stepper.report_positions();
 
   #if IS_SCARA
-    SERIAL_PROTOCOLPGM("SCARA Theta:");
-    SERIAL_PROTOCOL(delta[A_AXIS]);
-    SERIAL_PROTOCOLPGM("   Psi+Theta:");
-    SERIAL_PROTOCOLLN(delta[B_AXIS]);
-
-    SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
-    SERIAL_PROTOCOL(delta[A_AXIS]);
-    SERIAL_PROTOCOLPGM("   Psi+Theta (90):");
-    SERIAL_PROTOCOLLN(delta[B_AXIS] - delta[A_AXIS] - 90);
-
-    SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
-    SERIAL_PROTOCOL(delta[A_AXIS] / 90 * planner.axis_steps_per_mm[A_AXIS]);
-    SERIAL_PROTOCOLPGM("   Psi+Theta:");
-    SERIAL_PROTOCOLLN((delta[B_AXIS] - delta[A_AXIS]) / 90 * planner.axis_steps_per_mm[A_AXIS]);
+    SERIAL_PROTOCOLPAIR("SCARA Theta:", stepper.get_axis_position_mm(A_AXIS));
+    SERIAL_PROTOCOLLNPAIR("   Psi+Theta:", stepper.get_axis_position_mm(B_AXIS));
     SERIAL_EOL;
   #endif
 }
diff --git a/Marlin/stepper.h b/Marlin/stepper.h
index 2826903489..2eaeaf4906 100644
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@@ -91,11 +91,6 @@ class Stepper {
       static bool performing_homing;
     #endif
 
-    //
-    // Positions of stepper motors, in step units
-    //
-    static volatile long count_position[NUM_AXIS];
-
   private:
 
     static unsigned char last_direction_bits;        // The next stepping-bits to be output
@@ -143,6 +138,11 @@ class Stepper {
       static const int motor_current_setting[3] = PWM_MOTOR_CURRENT;
     #endif
 
+    //
+    // Positions of stepper motors, in step units
+    //
+    static volatile long count_position[NUM_AXIS];
+
     //
     // Current direction of stepper motors (+1 or -1)
     //