diff --git a/src/sardana/macroserver/recorders/output.py b/src/sardana/macroserver/recorders/output.py
index f1ff24f55..53fcbc3c8 100644
--- a/src/sardana/macroserver/recorders/output.py
+++ b/src/sardana/macroserver/recorders/output.py
@@ -141,6 +141,7 @@ def __init__(self, stream, cols=None, number_fmt='%8.4f', col_width=8,
             cols = None
         self._columns = cols
         self._output_block = output_block
+        self._header_shown = False
 
     def _startRecordList(self, recordlist):
         starttime = recordlist.getEnvironValue('starttime').ctime()
@@ -215,9 +216,7 @@ def _startRecordList(self, recordlist):
         self._scan_line_t = [(col_names[0], '%%(%s)8d' % col_names[0])]
         self._scan_line_t += [(name, cell_t_number % name)
                               for name in col_names[1:]]
-
-        self._stream()._output(header)
-        self._stream()._flushOutput()
+        self._header = header
 
     def _endRecordList(self, recordlist):
         self._stream()._flushOutput()
@@ -245,9 +244,14 @@ def _endRecordList(self, recordlist):
         info_string = 'Scan #%s ended at %s, taking %s. ' + \
                       'Dead time %.1f%% (setup time %.1f%%, motion dead time %.1f%%)'
         self._stream().info(info_string % (serialno, endtime, totaltime,
-                                         deadtime_perc, setuptime_perc, motiontime_perc))
+                                           deadtime_perc, setuptime_perc, motiontime_perc))
 
     def _writeRecord(self, record):
+        if not self._header_shown:
+            # show column headers
+            self._stream()._output(self._header)
+            self._stream()._flushOutput()
+            self._header_shown = True
         cells = []
         for i, (name, cell) in enumerate(self._scan_line_t):
             cell_data = record.data[name]
diff --git a/src/sardana/macroserver/scan/gscan.py b/src/sardana/macroserver/scan/gscan.py
index bc12957bb..cc23edb82 100644
--- a/src/sardana/macroserver/scan/gscan.py
+++ b/src/sardana/macroserver/scan/gscan.py
@@ -52,6 +52,8 @@
 from taurus.core.util.threadpool import ThreadPool
 from taurus.core.util.event import CallableRef
 from taurus.core.tango.tangovalidator import TangoDeviceNameValidator
+from taurus.console import Alignment
+from taurus.console.list import List
 
 from sardana.sardanathreadpool import OmniWorker
 from sardana.util.tree import BranchNode, LeafNode, Tree
@@ -2477,6 +2479,14 @@ def _go_through_waypoints(self):
                 self.on_waypoints_end()
                 return
 
+            # a table of motor settings
+            # ("u" is short for "unit", to save space)
+            motor_table = List(["Motor", "Velocity[u/s]", "Acceleration[s]",
+                                "Deceleration[s]", "Start[u]", "End[u]"],
+                               header_separator=None,
+                               text_alignment=[Alignment.HCenter] * 6,
+                               max_col_width=[-1] * 6)
+
             # prepare motor(s) to move with their maximum velocity
             for path in motion_paths:
                 motor = path.moveable
@@ -2487,6 +2497,13 @@ def _go_through_waypoints(self):
                                  'end: %f; ' % path.final_pos +
                                  'ds: %f' % (path.final_pos -
                                              path.initial_pos))
+                cell_format = "%g"  # TODO is this the proper format to use?
+                motor_table.appendRow([motor.getName(),
+                                       cell_format % path.max_vel,
+                                       cell_format % path.max_vel_time,
+                                       cell_format % path.min_vel_time,
+                                       cell_format % path.initial_pos,
+                                       cell_format % path.final_pos])
                 attributes = OrderedDict(velocity=path.max_vel,
                                          acceleration=path.max_vel_time,
                                          deceleration=path.min_vel_time)
@@ -2500,6 +2517,11 @@ def _go_through_waypoints(self):
                     msg = "Error when configuring scan motion (%s)" % e
                     raise ScanException(msg)
 
+            self.macro.output("")
+            for line in motor_table.genOutput():
+                self.macro.output(line)
+            self.macro.output("")
+
             if macro.isStopped():
                 self.on_waypoints_end()
                 return
@@ -2610,6 +2632,25 @@ def on_waypoints_end(self, restore_positions=None):
         self.join_thread_pool()
         self.macro.debug("All data events are processed")
 
+        # Note: The commented out code below works, but due to an issue with
+        # output of the last measurement point, it should not be enabled yet.
+        # See https://github.com/sardana-org/sardana/issues/1651
+
+        # # Output the restored motor settings
+        # out = List(["Motor", "Velocity", "Acceleration", "Deceleration"],
+        #            header_separator=None,
+        #            text_alignment=[Alignment.HCenter] * 4,
+        #            max_col_width=[-1] * 4)
+        # cell_format = "%g"
+        # for motor_backup in self._backup:
+        #     out.appendRow([motor_backup["moveable"].getName(),
+        #                    cell_format % motor_backup["velocity"],
+        #                    cell_format % motor_backup["acceleration"],
+        #                    cell_format % motor_backup["deceleration"]])
+        # self.macro.output("")
+        # for line in out.genOutput():
+        #     self.macro.output(line)
+
     def scan_loop(self):
         macro = self.macro
         # manager = macro.getManager()