diff --git a/docs/src/gcode/g-code.adoc b/docs/src/gcode/g-code.adoc
index 46386681cce..7a599b97665 100644
--- a/docs/src/gcode/g-code.adoc
+++ b/docs/src/gcode/g-code.adoc
@@ -1688,7 +1688,8 @@ M2 (end program)
 
 It is an error if:
 
-* motion is commanded on the same line as 'G43.1'
+* motion, or another G-code that takes axis words (G10, G28, G30, G52, G92,
+  G68.2, G68.4), is commanded on the same line as 'G43.1' with axis words
 
 [NOTE]
 G43.1 does not write to the tool table.
@@ -1740,6 +1741,8 @@ It is an error if:
 * 'H' is unspecified and no axis offsets are specified.
 * 'H' is specified and the given tool number does not exist in the tool table.
 * 'H' is specified and axes are also specified.
+* motion, or another G-code that takes axis words (G10, G28, G30, G52, G92,
+  G68.2, G68.4), is commanded on the same line as 'G43.2' with axis words.
 
 NOTE: G43.2 does not write to the tool table.
 
diff --git a/src/emc/rs274ngc/interp_internal.cc b/src/emc/rs274ngc/interp_internal.cc
index bcccebe27c2..e976a4c3d9e 100644
--- a/src/emc/rs274ngc/interp_internal.cc
+++ b/src/emc/rs274ngc/interp_internal.cc
@@ -151,6 +151,7 @@ int Interp::enhance_block(block_pointer block,   //!< pointer to a block to be c
   int ijk_flag;
   int polar_flag;
   int mode_zero_covets_axes;
+  int offset_covets_axes;
   int mode0;
   int mode1;
 
@@ -180,16 +181,24 @@ int Interp::enhance_block(block_pointer block,   //!< pointer to a block to be c
     CHKS(polar_flag, _("Polar coordinates cannot define a tilted work plane"));
     mode_zero_covets_axes = 1;
   }
+  // G43.1 and G43.2 take the axis words as offsets: no other G-code in the
+  // line can have them, and they are no move
+  offset_covets_axes = axis_flag &&
+    (block->g_modes[GM_TOOL_LENGTH_OFFSET] == G_43_1
+     || block->g_modes[GM_TOOL_LENGTH_OFFSET] == G_43_2);
+  CHKS((offset_covets_axes && mode_zero_covets_axes),
+      NCE_CANNOT_USE_TWO_G_CODES_THAT_BOTH_USE_AXIS_VALUES);
 
   if (mode1 != -1) {
     if (mode1 == G_80) {
-      CHKS(((polar_flag || axis_flag) && (!mode_zero_covets_axes)),
+      CHKS(((polar_flag || axis_flag) && (!mode_zero_covets_axes) && (!offset_covets_axes)),
           NCE_CANNOT_USE_AXIS_VALUES_WITH_G80);
       CHKS((polar_flag && mode0 == G_92), _("Polar coordinates can only be used for motion"));
       CHKS(((!axis_flag) && (mode0 == G_52 || mode0 == G_92)),
 	   NCE_ALL_AXES_MISSING_WITH_G52_OR_G92);
     } else {
-      CHKS(mode_zero_covets_axes, NCE_CANNOT_USE_TWO_G_CODES_THAT_BOTH_USE_AXIS_VALUES);
+      CHKS((mode_zero_covets_axes || offset_covets_axes),
+          NCE_CANNOT_USE_TWO_G_CODES_THAT_BOTH_USE_AXIS_VALUES);
       CHKS(((!axis_flag && !polar_flag) &&
             mode1 != G_0 && mode1 != G_1 &&
             mode1 != G_2 && mode1 != G_3 && 
@@ -207,14 +216,13 @@ int Interp::enhance_block(block_pointer block,   //!< pointer to a block to be c
     CHKS(((!axis_flag) &&
 	  (block->g_modes[GM_MODAL_0] == G_52 || block->g_modes[GM_MODAL_0] == G_92)),
 	 NCE_ALL_AXES_MISSING_WITH_G52_OR_G92);
+  } else if (offset_covets_axes) {
+    // the offsets alone, no move
   } else if (axis_flag || polar_flag) {
     CHKS(((settings->motion_mode == -1)
-         || (settings->motion_mode == G_80)) && (block->g_modes[GM_TOOL_LENGTH_OFFSET] != G_43_1)
-         && (block->g_modes[GM_TOOL_LENGTH_OFFSET] != G_43_2),
+         || (settings->motion_mode == G_80)),
         NCE_CANNOT_USE_AXIS_VALUES_WITHOUT_A_G_CODE_THAT_USES_THEM);
-    if (block->g_modes[GM_TOOL_LENGTH_OFFSET] != G_43_1) {
-       block->motion_to_be = settings->motion_mode;
-    }
+    block->motion_to_be = settings->motion_mode;
   } else if (!axis_flag && !polar_flag && ijk_flag && (settings->motion_mode == G_2 || settings->motion_mode == G_3)) {
     // this is a block like simply "i1" which should be accepted if we're in arc mode
       block->motion_to_be = settings->motion_mode;
diff --git a/tests/interp/g43-axis-words/expected b/tests/interp/g43-axis-words/expected
new file mode 100644
index 00000000000..a869f0b33dc
--- /dev/null
+++ b/tests/interp/g43-axis-words/expected
@@ -0,0 +1,28 @@
+ N..... STRAIGHT_TRAVERSE(50.0000, 50.0000, 0.0000, 0.0000, 0.0000, 0.0000)
+ N..... STRAIGHT_TRAVERSE(-50.0000, -50.0000, 0.0000, 0.0000, 0.0000, 0.0000)
+ N..... MESSAGE("G43.2 axis words: no move")
+ N..... USE_TOOL_LENGTH_OFFSET(0.0000 0.0000 0.0000, 0.0000 0.0000 0.0000, 0.0000 0.0000 0.0000)
+ N..... USE_TOOL_LENGTH_OFFSET(0.0000 0.0000 2.0000, 0.0000 0.0000 0.0000, 0.0000 0.0000 0.0000)
+ N..... MESSAGE("-50.000000 -50.000000 -2.000000")
+ N..... MESSAGE("G43.1 axis words: no move")
+ N..... USE_TOOL_LENGTH_OFFSET(0.0000 0.0000 3.0000, 0.0000 0.0000 0.0000, 0.0000 0.0000 0.0000)
+ N..... MESSAGE("-50.000000 -50.000000 -3.000000")
+ N..... MESSAGE("G43 H1 with axis words: a move")
+ N..... USE_TOOL_LENGTH_OFFSET(0.0000 0.0000 254.0000, 0.0000 0.0000 0.0000, 0.0000 0.0000 0.0000)
+ N..... STRAIGHT_TRAVERSE(-50.0000, -50.0000, 5.0000, 0.0000, 0.0000, 0.0000)
+ N..... MESSAGE("G49 with axis words: a move")
+ N..... USE_TOOL_LENGTH_OFFSET(0.0000 0.0000 0.0000, 0.0000 0.0000 0.0000, 0.0000 0.0000 0.0000)
+ N..... STRAIGHT_TRAVERSE(-50.0000, -50.0000, 6.0000, 0.0000, 0.0000, 0.0000)
+ N..... MESSAGE("G1 mode: G43.2 axis words do not feed either")
+ N..... STRAIGHT_FEED(1.0000, -50.0000, 6.0000, 0.0000, 0.0000, 0.0000)
+ N..... USE_TOOL_LENGTH_OFFSET(0.0000 0.0000 0.0000, 0.0000 0.0000 0.0000, 0.0000 0.0000 0.0000)
+g0 g43.1 z5: Cannot use two g codes that both use axis values
+g1 f100 g43.2 z5: Cannot use two g codes that both use axis values
+g2 f100 g43.1 x1 i1: Cannot use two g codes that both use axis values
+g92 g43.2 x1: Cannot use two g codes that both use axis values
+g10 l20 p1 g43.1 z1: Cannot use two g codes that both use axis values
+g10 l1 p1 g43.2 z1: Cannot use two g codes that both use axis values
+g28 g43.1 z1: Cannot use two g codes that both use axis values
+g68.2 g43.2 z1: Cannot use two g codes that both use axis values
+g80 g43.1 z5: accepted
+g0 g43.2 h1: accepted
diff --git a/tests/interp/g43-axis-words/test.ngc b/tests/interp/g43-axis-words/test.ngc
new file mode 100644
index 00000000000..6de1d60cfd6
--- /dev/null
+++ b/tests/interp/g43-axis-words/test.ngc
@@ -0,0 +1,28 @@
+; G43.1 and G43.2 take their axis words as offsets and do not move, even
+; with a motion mode in effect; G43 and G49 with axis words move along them
+; with the new offset.
+
+g21
+g0 x50 y50
+g10 l20 p0 x0 y0 z0
+g53 x0 y0 z0
+
+(debug,G43.2 axis words: no move)
+g43.2 x0 y0
+g43.2 z2
+(debug,#5420 #5421 #5422)
+
+(debug,G43.1 axis words: no move)
+g43.1 z3
+(debug,#5420 #5421 #5422)
+
+(debug,G43 H1 with axis words: a move)
+g43 h1 z5
+
+(debug,G49 with axis words: a move)
+g49 z6
+
+(debug,G1 mode: G43.2 axis words do not feed either)
+g1 f100 x1
+g43.2 x0 y0
+m2
diff --git a/tests/interp/g43-axis-words/test.sh b/tests/interp/g43-axis-words/test.sh
new file mode 100755
index 00000000000..6803254068d
--- /dev/null
+++ b/tests/interp/g43-axis-words/test.sh
@@ -0,0 +1,23 @@
+#!/bin/bash
+rs274 -g test.ngc -t test.tbl | awk '/MESSAGE|STRAIGHT_|USE_TOOL_LENGTH_OFFSET/ {$1=""; print}' | sed 's/-0\.0000*\b/0.0000/g'
+status=${PIPESTATUS[0]}
+# G43.1 and G43.2 axis words cannot also be the axis words of another G-code
+# in the line; G80 and G43.2 H with a motion code stay fine
+while read -r line; do
+    printf 'g21\n%s\nm2\n' "$line" > line.ngc
+    msg=$(rs274 -g line.ngc -t test.tbl 2>&1 | grep -v '^ *[0-9]\|^executing' | head -1)
+    echo "$line: ${msg:-accepted}"
+done <<'LINES'
+g0 g43.1 z5
+g1 f100 g43.2 z5
+g2 f100 g43.1 x1 i1
+g92 g43.2 x1
+g10 l20 p1 g43.1 z1
+g10 l1 p1 g43.2 z1
+g28 g43.1 z1
+g68.2 g43.2 z1
+g80 g43.1 z5
+g0 g43.2 h1
+LINES
+rm -f line.ngc
+exit "$status"
diff --git a/tests/interp/g43-axis-words/test.tbl b/tests/interp/g43-axis-words/test.tbl
new file mode 100644
index 00000000000..13f4a45a288
--- /dev/null
+++ b/tests/interp/g43-axis-words/test.tbl
@@ -0,0 +1 @@
+t1 p1 x0 y0 z10