diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index d4032a39fb..b9bf13e33a 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -35,6 +35,10 @@
 #define MOTHERBOARD 7
 #endif
 
+/// Comment out the following line to enable normal kinematics
+
+#define COREXY
+
 //===========================================================================
 //=============================Thermal Settings  ============================
 //===========================================================================
@@ -168,7 +172,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 #define DISABLE_E false // For all extruders
 
 #define INVERT_X_DIR true    // for Mendel set to false, for Orca set to true
-#define INVERT_Y_DIR false    // for Mendel set to true, for Orca set to false
+#define INVERT_Y_DIR true    // for Mendel set to true, for Orca set to false
 #define INVERT_Z_DIR true     // for Mendel set to false, for Orca set to true
 #define INVERT_E0_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 #define INVERT_E1_DIR false    // for direct drive extruder v9 set to true, for geared extruder set to false
@@ -180,8 +184,8 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 #define Y_HOME_DIR -1
 #define Z_HOME_DIR -1
 
-#define min_software_endstops true //If true, axis won't move to coordinates less than HOME_POS.
-#define max_software_endstops true  //If true, axis won't move to coordinates greater than the defined lengths below.
+#define min_software_endstops false //If true, axis won't move to coordinates less than HOME_POS.
+#define max_software_endstops false  //If true, axis won't move to coordinates greater than the defined lengths below.
 #define X_MAX_LENGTH 205
 #define Y_MAX_LENGTH 205
 #define Z_MAX_LENGTH 200
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 08ed8edd9a..592e930077 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -214,6 +214,12 @@ void st_wake_up() {
   ENABLE_STEPPER_DRIVER_INTERRUPT();  
 }
 
+void step_wait(){
+    for(int8_t i=0; i < 6; i++){
+    }
+}
+  
+
 FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
   unsigned short timer;
   if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
@@ -317,8 +323,10 @@ ISR(TIMER1_COMPA_vect)
     out_bits = current_block->direction_bits;
 
     // Set direction en check limit switches
-    if ((out_bits & (1<<X_AXIS)) != 0) {   // -direction
-      WRITE(X_DIR_PIN, INVERT_X_DIR);
+    if ((out_bits & (1<<X_AXIS)) != 0) {   // stepping along -X axis
+      #if !defined COREXY  //NOT COREXY
+        WRITE(X_DIR_PIN, INVERT_X_DIR);
+      #endif
       count_direction[X_AXIS]=-1;
       CHECK_ENDSTOPS
       {
@@ -333,8 +341,11 @@ ISR(TIMER1_COMPA_vect)
         #endif
       }
     }
-    else { // +direction 
-      WRITE(X_DIR_PIN,!INVERT_X_DIR);
+    else { // +direction
+      #if !defined COREXY  //NOT COREXY
+        WRITE(X_DIR_PIN,!INVERT_X_DIR);
+      #endif
+      
       count_direction[X_AXIS]=1;
       CHECK_ENDSTOPS 
       {
@@ -351,7 +362,9 @@ ISR(TIMER1_COMPA_vect)
     }
 
     if ((out_bits & (1<<Y_AXIS)) != 0) {   // -direction
-      WRITE(Y_DIR_PIN,INVERT_Y_DIR);
+      #if !defined COREXY  //NOT COREXY
+        WRITE(Y_DIR_PIN,INVERT_Y_DIR);
+      #endif
       count_direction[Y_AXIS]=-1;
       CHECK_ENDSTOPS
       {
@@ -367,7 +380,9 @@ ISR(TIMER1_COMPA_vect)
       }
     }
     else { // +direction
-    WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
+      #if !defined COREXY  //NOT COREXY
+        WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
+      #endif
       count_direction[Y_AXIS]=1;
       CHECK_ENDSTOPS
       {
@@ -382,7 +397,28 @@ ISR(TIMER1_COMPA_vect)
         #endif
       }
     }
-
+    
+    
+    #ifdef COREXY  //coreXY kinematics defined
+      if((current_block->steps_x >= current_block->steps_y)&&((out_bits & (1<<X_AXIS)) == 0)){  //+X is major axis
+        WRITE(X_DIR_PIN, !INVERT_X_DIR);
+        WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
+      }
+      if((current_block->steps_x >= current_block->steps_y)&&((out_bits & (1<<X_AXIS)) != 0)){  //-X is major axis
+        WRITE(X_DIR_PIN, INVERT_X_DIR);
+        WRITE(Y_DIR_PIN, INVERT_Y_DIR);
+      }      
+      if((current_block->steps_y > current_block->steps_x)&&((out_bits & (1<<Y_AXIS)) == 0)){  //+Y is major axis
+        WRITE(X_DIR_PIN, !INVERT_X_DIR);
+        WRITE(Y_DIR_PIN, INVERT_Y_DIR);
+      }        
+      if((current_block->steps_y > current_block->steps_x)&&((out_bits & (1<<Y_AXIS)) != 0)){  //-Y is major axis
+        WRITE(X_DIR_PIN, INVERT_X_DIR);
+        WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
+      }  
+    #endif //coreXY
+    
+    
     if ((out_bits & (1<<Z_AXIS)) != 0) {   // -direction
       WRITE(Z_DIR_PIN,INVERT_Z_DIR);
       count_direction[Z_AXIS]=-1;
@@ -446,23 +482,73 @@ ISR(TIMER1_COMPA_vect)
         }
       }    
       #endif //ADVANCE
+
+      #if !defined COREXY      
+        counter_x += current_block->steps_x;
+        if (counter_x > 0) {
+          WRITE(X_STEP_PIN, HIGH);
+          counter_x -= current_block->step_event_count;
+          WRITE(X_STEP_PIN, LOW);
+          count_position[X_AXIS]+=count_direction[X_AXIS];   
+        }
+  
+        counter_y += current_block->steps_y;
+        if (counter_y > 0) {
+          WRITE(Y_STEP_PIN, HIGH);
+
+          WRITE(Y_STEP_PIN, LOW);
+
+        }
+      #endif
+  
+      #ifdef COREXY
+        counter_x += current_block->steps_x;        
+        counter_y += current_block->steps_y;
+        
+        if ((counter_x > 0)&&!(counter_y>0)){  //X step only
+          WRITE(X_STEP_PIN, HIGH);
+          WRITE(Y_STEP_PIN, HIGH);
+          counter_x -= current_block->step_event_count;          
+          WRITE(X_STEP_PIN, LOW);
+          WRITE(Y_STEP_PIN, LOW);
+          count_position[X_AXIS]+=count_direction[X_AXIS];
+        }
+        
+        if (!(counter_x > 0)&&(counter_y>0)){  //Y step only
+          WRITE(X_STEP_PIN, HIGH);
+          WRITE(Y_STEP_PIN, HIGH);
+          counter_y -= current_block->step_event_count;          
+          WRITE(X_STEP_PIN, LOW);
+          WRITE(Y_STEP_PIN, LOW);
+          count_position[Y_AXIS]+=count_direction[Y_AXIS];
+        }        
+        
+        if ((counter_x > 0)&&(counter_y>0)){  //step in both axes
+          if (((out_bits & (1<<X_AXIS)) == 0)^((out_bits & (1<<Y_AXIS)) == 0)){  //X and Y in different directions
+            WRITE(Y_STEP_PIN, HIGH);
+            counter_x -= current_block->step_event_count;             
+            WRITE(Y_STEP_PIN, LOW);
+            step_wait();
+            count_position[X_AXIS]+=count_direction[X_AXIS];
+            count_position[Y_AXIS]+=count_direction[Y_AXIS];
+            WRITE(Y_STEP_PIN, HIGH);
+            counter_y -= current_block->step_event_count;
+            WRITE(Y_STEP_PIN, LOW);
+          }
+          else{  //X and Y in same direction
+            WRITE(X_STEP_PIN, HIGH);
+            counter_x -= current_block->step_event_count;             
+            WRITE(X_STEP_PIN, LOW) ;
+            step_wait();
+            count_position[X_AXIS]+=count_direction[X_AXIS];
+            count_position[Y_AXIS]+=count_direction[Y_AXIS];
+            WRITE(X_STEP_PIN, HIGH); 
+            counter_y -= current_block->step_event_count;    
+            WRITE(X_STEP_PIN, LOW);        
+          }
+        }
+      #endif //corexy
       
-      counter_x += current_block->steps_x;
-      if (counter_x > 0) {
-        WRITE(X_STEP_PIN, HIGH);
-        counter_x -= current_block->step_event_count;
-        WRITE(X_STEP_PIN, LOW);
-        count_position[X_AXIS]+=count_direction[X_AXIS];   
-      }
-
-      counter_y += current_block->steps_y;
-      if (counter_y > 0) {
-        WRITE(Y_STEP_PIN, HIGH);
-        counter_y -= current_block->step_event_count;
-        WRITE(Y_STEP_PIN, LOW);
-        count_position[Y_AXIS]+=count_direction[Y_AXIS];
-      }
-
       counter_z += current_block->steps_z;
       if (counter_z > 0) {
         WRITE(Z_STEP_PIN, HIGH);