diff --git a/Marlin/Conditionals.h b/Marlin/Conditionals.h
index 54b111bb65..fa780f2982 100644
--- a/Marlin/Conditionals.h
+++ b/Marlin/Conditionals.h
@@ -426,7 +426,7 @@
    */
   #if ENABLED(ADVANCE)
     #define EXTRUSION_AREA (0.25 * (D_FILAMENT) * (D_FILAMENT) * M_PI)
-    #define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS] / (EXTRUSION_AREA))
+    #define STEPS_PER_CUBIC_MM_E (axis_steps_per_mm[E_AXIS] / (EXTRUSION_AREA))
   #endif
 
   #if ENABLED(ULTIPANEL) && DISABLED(ELB_FULL_GRAPHIC_CONTROLLER)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 2a2a4ef07d..ccfe67250a 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -156,7 +156,7 @@
  * M84  - Disable steppers until next move,
  *        or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled.  S0 to disable the timeout.
  * M85  - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
- * M92  - Set planner.axis_steps_per_unit - same syntax as G92
+ * M92  - Set planner.axis_steps_per_mm - same syntax as G92
  * M104 - Set extruder target temp
  * M105 - Read current temp
  * M106 - Fan on
@@ -1675,7 +1675,7 @@ static void setup_for_endstop_move() {
        * is not where we said to go.
        */
       long stop_steps = stepper.position(Z_AXIS);
-      float mm = start_z - float(start_steps - stop_steps) / planner.axis_steps_per_unit[Z_AXIS];
+      float mm = start_z - float(start_steps - stop_steps) / planner.axis_steps_per_mm[Z_AXIS];
       current_position[Z_AXIS] = mm;
 
       #if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -5147,15 +5147,15 @@ inline void gcode_M92() {
       if (i == E_AXIS) {
         float value = code_value_per_axis_unit(i);
         if (value < 20.0) {
-          float factor = planner.axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
+          float factor = planner.axis_steps_per_mm[i] / value; // increase e constants if M92 E14 is given for netfab.
           planner.max_e_jerk *= factor;
           planner.max_feedrate[i] *= factor;
           planner.max_acceleration_steps_per_s2[i] *= factor;
         }
-        planner.axis_steps_per_unit[i] = value;
+        planner.axis_steps_per_mm[i] = value;
       }
       else {
-        planner.axis_steps_per_unit[i] = code_value_per_axis_unit(i);
+        planner.axis_steps_per_mm[i] = code_value_per_axis_unit(i);
       }
     }
   }
@@ -5190,9 +5190,9 @@ static void report_current_position() {
     SERIAL_EOL;
 
     SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
-    SERIAL_PROTOCOL(delta[X_AXIS] / 90 * planner.axis_steps_per_unit[X_AXIS]);
+    SERIAL_PROTOCOL(delta[X_AXIS] / 90 * planner.axis_steps_per_mm[X_AXIS]);
     SERIAL_PROTOCOLPGM("   Psi+Theta:");
-    SERIAL_PROTOCOL((delta[Y_AXIS] - delta[X_AXIS]) / 90 * planner.axis_steps_per_unit[Y_AXIS]);
+    SERIAL_PROTOCOL((delta[Y_AXIS] - delta[X_AXIS]) / 90 * planner.axis_steps_per_mm[Y_AXIS]);
     SERIAL_EOL; SERIAL_EOL;
   #endif
 }
@@ -5347,7 +5347,7 @@ inline void gcode_M201() {
 #if 0 // Not used for Sprinter/grbl gen6
   inline void gcode_M202() {
     for (int8_t i = 0; i < NUM_AXIS; i++) {
-      if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value_axis_units(i) * planner.axis_steps_per_unit[i];
+      if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value_axis_units(i) * planner.axis_steps_per_mm[i];
     }
   }
 #endif
@@ -8209,8 +8209,8 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
         }
         float oldepos = current_position[E_AXIS], oldedes = destination[E_AXIS];
         planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
-                         destination[E_AXIS] + (EXTRUDER_RUNOUT_EXTRUDE) * (EXTRUDER_RUNOUT_ESTEPS) / planner.axis_steps_per_unit[E_AXIS],
-                         (EXTRUDER_RUNOUT_SPEED) / 60. * (EXTRUDER_RUNOUT_ESTEPS) / planner.axis_steps_per_unit[E_AXIS], active_extruder);
+                         destination[E_AXIS] + (EXTRUDER_RUNOUT_EXTRUDE) * (EXTRUDER_RUNOUT_ESTEPS) / planner.axis_steps_per_mm[E_AXIS],
+                         (EXTRUDER_RUNOUT_SPEED) / 60. * (EXTRUDER_RUNOUT_ESTEPS) / planner.axis_steps_per_mm[E_AXIS], active_extruder);
       current_position[E_AXIS] = oldepos;
       destination[E_AXIS] = oldedes;
       planner.set_e_position_mm(oldepos);
diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp
index 579c9868ec..130763123d 100644
--- a/Marlin/configuration_store.cpp
+++ b/Marlin/configuration_store.cpp
@@ -43,7 +43,7 @@
  *
  *  100  Version (char x4)
  *
- *  104  M92 XYZE  planner.axis_steps_per_unit (float x4)
+ *  104  M92 XYZE  planner.axis_steps_per_mm (float x4)
  *  120  M203 XYZE planner.max_feedrate (float x4)
  *  136  M201 XYZE planner.max_acceleration_mm_per_s2 (uint32_t x4)
  *  152  M204 P    planner.acceleration (float)
@@ -173,7 +173,7 @@ void Config_StoreSettings()  {
   char ver[4] = "000";
   int i = EEPROM_OFFSET;
   EEPROM_WRITE_VAR(i, ver); // invalidate data first
-  EEPROM_WRITE_VAR(i, planner.axis_steps_per_unit);
+  EEPROM_WRITE_VAR(i, planner.axis_steps_per_mm);
   EEPROM_WRITE_VAR(i, planner.max_feedrate);
   EEPROM_WRITE_VAR(i, planner.max_acceleration_mm_per_s2);
   EEPROM_WRITE_VAR(i, planner.acceleration);
@@ -353,7 +353,7 @@ void Config_RetrieveSettings() {
     float dummy = 0;
 
     // version number match
-    EEPROM_READ_VAR(i, planner.axis_steps_per_unit);
+    EEPROM_READ_VAR(i, planner.axis_steps_per_mm);
     EEPROM_READ_VAR(i, planner.max_feedrate);
     EEPROM_READ_VAR(i, planner.max_acceleration_mm_per_s2);
 
@@ -527,7 +527,7 @@ void Config_ResetDefault() {
   float tmp2[] = DEFAULT_MAX_FEEDRATE;
   long tmp3[] = DEFAULT_MAX_ACCELERATION;
   for (uint8_t i = 0; i < NUM_AXIS; i++) {
-    planner.axis_steps_per_unit[i] = tmp1[i];
+    planner.axis_steps_per_mm[i] = tmp1[i];
     planner.max_feedrate[i] = tmp2[i];
     planner.max_acceleration_mm_per_s2[i] = tmp3[i];
     #if ENABLED(SCARA)
@@ -652,10 +652,10 @@ void Config_PrintSettings(bool forReplay) {
     SERIAL_ECHOLNPGM("Steps per unit:");
     CONFIG_ECHO_START;
   }
-  SERIAL_ECHOPAIR("  M92 X", planner.axis_steps_per_unit[X_AXIS]);
-  SERIAL_ECHOPAIR(" Y", planner.axis_steps_per_unit[Y_AXIS]);
-  SERIAL_ECHOPAIR(" Z", planner.axis_steps_per_unit[Z_AXIS]);
-  SERIAL_ECHOPAIR(" E", planner.axis_steps_per_unit[E_AXIS]);
+  SERIAL_ECHOPAIR("  M92 X", planner.axis_steps_per_mm[X_AXIS]);
+  SERIAL_ECHOPAIR(" Y", planner.axis_steps_per_mm[Y_AXIS]);
+  SERIAL_ECHOPAIR(" Z", planner.axis_steps_per_mm[Z_AXIS]);
+  SERIAL_ECHOPAIR(" E", planner.axis_steps_per_mm[E_AXIS]);
   SERIAL_EOL;
 
   CONFIG_ECHO_START;
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 29d3838ad0..bd60d75a1f 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -81,7 +81,7 @@ volatile uint8_t Planner::block_buffer_head = 0;           // Index of the next
 volatile uint8_t Planner::block_buffer_tail = 0;
 
 float Planner::max_feedrate[NUM_AXIS]; // Max speeds in mm per minute
-float Planner::axis_steps_per_unit[NUM_AXIS];
+float Planner::axis_steps_per_mm[NUM_AXIS];
 unsigned long Planner::max_acceleration_steps_per_s2[NUM_AXIS];
 unsigned long Planner::max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
 
@@ -549,10 +549,10 @@ void Planner::check_axes_activity() {
   // Calculate target position in absolute steps
   //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
   long target[NUM_AXIS] = {
-    lround(x * axis_steps_per_unit[X_AXIS]),
-    lround(y * axis_steps_per_unit[Y_AXIS]),
-    lround(z * axis_steps_per_unit[Z_AXIS]),
-    lround(e * axis_steps_per_unit[E_AXIS])
+    lround(x * axis_steps_per_mm[X_AXIS]),
+    lround(y * axis_steps_per_mm[Y_AXIS]),
+    lround(z * axis_steps_per_mm[Z_AXIS]),
+    lround(e * axis_steps_per_mm[E_AXIS])
   };
 
   long dx = target[X_AXIS] - position[X_AXIS],
@@ -574,7 +574,7 @@ void Planner::check_axes_activity() {
         SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
       }
       #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
-        if (labs(de) > axis_steps_per_unit[E_AXIS] * (EXTRUDE_MAXLENGTH)) {
+        if (labs(de) > axis_steps_per_mm[E_AXIS] * (EXTRUDE_MAXLENGTH)) {
           position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
           de = 0; // no difference
           SERIAL_ECHO_START;
@@ -771,31 +771,31 @@ void Planner::check_axes_activity() {
   #if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
     float delta_mm[6];
     #if ENABLED(COREXY)
-      delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
-      delta_mm[Y_HEAD] = dy / axis_steps_per_unit[B_AXIS];
-      delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
-      delta_mm[A_AXIS] = (dx + dy) / axis_steps_per_unit[A_AXIS];
-      delta_mm[B_AXIS] = (dx - dy) / axis_steps_per_unit[B_AXIS];
+      delta_mm[X_HEAD] = dx / axis_steps_per_mm[A_AXIS];
+      delta_mm[Y_HEAD] = dy / axis_steps_per_mm[B_AXIS];
+      delta_mm[Z_AXIS] = dz / axis_steps_per_mm[Z_AXIS];
+      delta_mm[A_AXIS] = (dx + dy) / axis_steps_per_mm[A_AXIS];
+      delta_mm[B_AXIS] = (dx - dy) / axis_steps_per_mm[B_AXIS];
     #elif ENABLED(COREXZ)
-      delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
-      delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
-      delta_mm[Z_HEAD] = dz / axis_steps_per_unit[C_AXIS];
-      delta_mm[A_AXIS] = (dx + dz) / axis_steps_per_unit[A_AXIS];
-      delta_mm[C_AXIS] = (dx - dz) / axis_steps_per_unit[C_AXIS];
+      delta_mm[X_HEAD] = dx / axis_steps_per_mm[A_AXIS];
+      delta_mm[Y_AXIS] = dy / axis_steps_per_mm[Y_AXIS];
+      delta_mm[Z_HEAD] = dz / axis_steps_per_mm[C_AXIS];
+      delta_mm[A_AXIS] = (dx + dz) / axis_steps_per_mm[A_AXIS];
+      delta_mm[C_AXIS] = (dx - dz) / axis_steps_per_mm[C_AXIS];
     #elif ENABLED(COREYZ)
-      delta_mm[X_AXIS] = dx / axis_steps_per_unit[A_AXIS];
-      delta_mm[Y_HEAD] = dy / axis_steps_per_unit[Y_AXIS];
-      delta_mm[Z_HEAD] = dz / axis_steps_per_unit[C_AXIS];
-      delta_mm[B_AXIS] = (dy + dz) / axis_steps_per_unit[B_AXIS];
-      delta_mm[C_AXIS] = (dy - dz) / axis_steps_per_unit[C_AXIS];
+      delta_mm[X_AXIS] = dx / axis_steps_per_mm[A_AXIS];
+      delta_mm[Y_HEAD] = dy / axis_steps_per_mm[Y_AXIS];
+      delta_mm[Z_HEAD] = dz / axis_steps_per_mm[C_AXIS];
+      delta_mm[B_AXIS] = (dy + dz) / axis_steps_per_mm[B_AXIS];
+      delta_mm[C_AXIS] = (dy - dz) / axis_steps_per_mm[C_AXIS];
     #endif
   #else
     float delta_mm[4];
-    delta_mm[X_AXIS] = dx / axis_steps_per_unit[X_AXIS];
-    delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
-    delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
+    delta_mm[X_AXIS] = dx / axis_steps_per_mm[X_AXIS];
+    delta_mm[Y_AXIS] = dy / axis_steps_per_mm[Y_AXIS];
+    delta_mm[Z_AXIS] = dz / axis_steps_per_mm[Z_AXIS];
   #endif
-  delta_mm[E_AXIS] = (de / axis_steps_per_unit[E_AXIS]) * volumetric_multiplier[extruder] * extruder_multiplier[extruder] / 100.0;
+  delta_mm[E_AXIS] = (de / axis_steps_per_mm[E_AXIS]) * volumetric_multiplier[extruder] * extruder_multiplier[extruder] / 100.0;
 
   if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) {
     block->millimeters = fabs(delta_mm[E_AXIS]);
@@ -1127,10 +1127,10 @@ void Planner::check_axes_activity() {
       apply_rotation_xyz(bed_level_matrix, x, y, z);
     #endif
 
-    long nx = position[X_AXIS] = lround(x * axis_steps_per_unit[X_AXIS]),
-         ny = position[Y_AXIS] = lround(y * axis_steps_per_unit[Y_AXIS]),
-         nz = position[Z_AXIS] = lround(z * axis_steps_per_unit[Z_AXIS]),
-         ne = position[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
+    long nx = position[X_AXIS] = lround(x * axis_steps_per_mm[X_AXIS]),
+         ny = position[Y_AXIS] = lround(y * axis_steps_per_mm[Y_AXIS]),
+         nz = position[Z_AXIS] = lround(z * axis_steps_per_mm[Z_AXIS]),
+         ne = position[E_AXIS] = lround(e * axis_steps_per_mm[E_AXIS]);
     stepper.set_position(nx, ny, nz, ne);
     previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
 
@@ -1141,14 +1141,14 @@ void Planner::check_axes_activity() {
  * Directly set the planner E position (hence the stepper E position).
  */
 void Planner::set_e_position_mm(const float& e) {
-  position[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
+  position[E_AXIS] = lround(e * axis_steps_per_mm[E_AXIS]);
   stepper.set_e_position(position[E_AXIS]);
 }
 
 // Recalculate the steps/s^2 acceleration rates, based on the mm/s^2
 void Planner::reset_acceleration_rates() {
   for (int i = 0; i < NUM_AXIS; i++)
-    max_acceleration_steps_per_s2[i] = max_acceleration_mm_per_s2[i] * axis_steps_per_unit[i];
+    max_acceleration_steps_per_s2[i] = max_acceleration_mm_per_s2[i] * axis_steps_per_mm[i];
 }
 
 #if ENABLED(AUTOTEMP)
diff --git a/Marlin/planner.h b/Marlin/planner.h
index ee8c4ed27d..07de37134e 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -112,7 +112,7 @@ class Planner {
     static volatile uint8_t block_buffer_tail;
 
     static float max_feedrate[NUM_AXIS]; // Max speeds in mm per minute
-    static float axis_steps_per_unit[NUM_AXIS];
+    static float axis_steps_per_mm[NUM_AXIS];
     static unsigned long max_acceleration_steps_per_s2[NUM_AXIS];
     static unsigned long max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
 
@@ -134,7 +134,7 @@ class Planner {
 
     /**
      * The current position of the tool in absolute steps
-     * Reclculated if any axis_steps_per_unit are changed by gcode
+     * Reclculated if any axis_steps_per_mm are changed by gcode
      */
     static long position[NUM_AXIS];
 
@@ -212,7 +212,7 @@ class Planner {
        * Set the planner.position and individual stepper positions.
        * Used by G92, G28, G29, and other procedures.
        *
-       * Multiplies by axis_steps_per_unit[] and does necessary conversion
+       * Multiplies by axis_steps_per_mm[] and does necessary conversion
        * for COREXY / COREXZ / COREYZ to set the corresponding stepper positions.
        *
        * Clears previous speed values.
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 7695e3c57f..f8e8a853c9 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -754,7 +754,7 @@ float Stepper::get_axis_position_mm(AxisEnum axis) {
   #else
     axis_steps = position(axis);
   #endif
-  return axis_steps / planner.axis_steps_per_unit[axis];
+  return axis_steps / planner.axis_steps_per_mm[axis];
 }
 
 void Stepper::finish_and_disable() {
diff --git a/Marlin/stepper.h b/Marlin/stepper.h
index 13c753fbca..1aebe366c0 100644
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@@ -243,7 +243,7 @@ class Stepper {
     // Triggered position of an axis in mm (not core-savvy)
     //
     static FORCE_INLINE float triggered_position_mm(AxisEnum axis) {
-      return endstops_trigsteps[axis] / planner.axis_steps_per_unit[axis];
+      return endstops_trigsteps[axis] / planner.axis_steps_per_mm[axis];
     }
 
   private:
diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp
index 61d9fe2e2f..c923535046 100644
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@@ -556,7 +556,7 @@ float Temperature::get_pid_output(int e) {
               lpq[lpq_ptr++] = 0;
             }
             if (lpq_ptr >= lpq_len) lpq_ptr = 0;
-            cTerm[_CTERM_INDEX] = (lpq[lpq_ptr] / planner.axis_steps_per_unit[E_AXIS]) * PID_PARAM(Kc, e);
+            cTerm[_CTERM_INDEX] = (lpq[lpq_ptr] / planner.axis_steps_per_mm[E_AXIS]) * PID_PARAM(Kc, e);
             pid_output += cTerm[e];
           }
         #endif //PID_ADD_EXTRUSION_RATE
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index 804fce37c0..a891f907dd 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -1692,14 +1692,14 @@ static void lcd_control_motion_menu() {
   MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_E, &planner.max_acceleration_mm_per_s2[E_AXIS], 100, 99000, _reset_acceleration_rates);
   MENU_ITEM_EDIT(float5, MSG_A_RETRACT, &planner.retract_acceleration, 100, 99000);
   MENU_ITEM_EDIT(float5, MSG_A_TRAVEL, &planner.travel_acceleration, 100, 99000);
-  MENU_ITEM_EDIT(float52, MSG_XSTEPS, &planner.axis_steps_per_unit[X_AXIS], 5, 9999);
-  MENU_ITEM_EDIT(float52, MSG_YSTEPS, &planner.axis_steps_per_unit[Y_AXIS], 5, 9999);
+  MENU_ITEM_EDIT(float52, MSG_XSTEPS, &planner.axis_steps_per_mm[X_AXIS], 5, 9999);
+  MENU_ITEM_EDIT(float52, MSG_YSTEPS, &planner.axis_steps_per_mm[Y_AXIS], 5, 9999);
   #if ENABLED(DELTA)
-    MENU_ITEM_EDIT(float52, MSG_ZSTEPS, &planner.axis_steps_per_unit[Z_AXIS], 5, 9999);
+    MENU_ITEM_EDIT(float52, MSG_ZSTEPS, &planner.axis_steps_per_mm[Z_AXIS], 5, 9999);
   #else
-    MENU_ITEM_EDIT(float51, MSG_ZSTEPS, &planner.axis_steps_per_unit[Z_AXIS], 5, 9999);
+    MENU_ITEM_EDIT(float51, MSG_ZSTEPS, &planner.axis_steps_per_mm[Z_AXIS], 5, 9999);
   #endif
-  MENU_ITEM_EDIT(float51, MSG_ESTEPS, &planner.axis_steps_per_unit[E_AXIS], 5, 9999);
+  MENU_ITEM_EDIT(float51, MSG_ESTEPS, &planner.axis_steps_per_mm[E_AXIS], 5, 9999);
   #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
     MENU_ITEM_EDIT(bool, MSG_ENDSTOP_ABORT, &stepper.abort_on_endstop_hit);
   #endif