diff --git a/docs/src/gcode/m-code.adoc b/docs/src/gcode/m-code.adoc
index 253358f25f1..21a3da5d6a9 100644
--- a/docs/src/gcode/m-code.adoc
+++ b/docs/src/gcode/m-code.adoc
@@ -235,7 +235,7 @@ M19 R- Q- [P-] [$-]
 M19 is a command of modal group 7, like M3, M4 and M5.
 M19 is cleared by any of M3,M4,M5.
 
-Spindle orientation requires a quadrature encoder with an index to sense the
+Spindle orientation requires a quadrature encoder to sense the
 spindle shaft position and direction of rotation.
 
 INI Settings in the [RS274NGC] section:
diff --git a/src/hal/components/orient.comp b/src/hal/components/orient.comp
index fdff8714f48..e0cc93f1478 100644
--- a/src/hal/components/orient.comp
+++ b/src/hal/components/orient.comp
@@ -26,9 +26,7 @@ to support the M19 code.
 The spindle is assumed to have stopped in an arbitrary position. The spindle
 encoder position is linked to the *position* pin.  The current value of the
 position pin is sampled on a positive edge on the *enable* pin, and *command*
-is computed and set as follows: +
-floor(number of full spindle revolutions in the *position* sampled on positive
-edge) plus *angle*/360 (the fractional revolution) +1/-1/0 depending on *mode*.
+is computed and set depending on *mode*.
 
 The *mode* pin is interpreted as follows: