diff --git a/dda.c b/dda.c
index 73e49e9..9a1498b 100644
--- a/dda.c
+++ b/dda.c
@@ -952,7 +952,7 @@ void update_current_position() {
 
   if (dda != NULL) {
     uint32_t axis_um;
-    axes_int32_t delta_um, um;
+    axes_int32_t delta_um;
 
     for (i = X; i < AXIS_COUNT; i++) {
       axis_um = muldiv(move_state.steps[i], 
@@ -962,11 +962,10 @@ void update_current_position() {
       delta_um[i] = (int32_t)get_direction(dda, i) * axis_um;
     }
 
-    delta_to_axes(delta_um, um);
-    um[E] = delta_um[E];
+    delta_to_axes(delta_um);
 
     for (i = X; i < AXIS_COUNT; i++) {
-      current_position.axis[i] = dda->endpoint.axis[i] - um[i];
+      current_position.axis[i] = dda->endpoint.axis[i] - delta_um[i];
     }
 
     if (dda->endpoint.e_relative) {
diff --git a/dda_kinematics.c b/dda_kinematics.c
index ddcb180..43d2506 100644
--- a/dda_kinematics.c
+++ b/dda_kinematics.c
@@ -56,16 +56,15 @@ void axes_um_to_steps_corexy(const axes_int32_t um, axes_int32_t steps) {
   steps[Z] = um_to_steps(um[Z], Z);
 }
 
-void delta_to_axes_cartesian(const axes_int32_t delta_um, axes_int32_t um) {
-  enum axis_e i;
-
-  for (i = X; i < E; i++) {
-    um[i] = delta_um[i];
-  }
+void delta_to_axes_cartesian(axes_int32_t delta) {
+  // nothing to do for cartesian
 }
 
-void delta_to_axes_corexy(const axes_int32_t delta_um, axes_int32_t um) {
-  um[X] = (delta_um[X] + delta_um[Y]) / 2;
-  um[Y] = (delta_um[X] - delta_um[Y]) / 2;
-  um[Z] = delta_um[Z];
+void delta_to_axes_corexy(axes_int32_t delta) {
+  // recalculate only dedicated axes
+  int32_t x_axis, y_axis;
+  x_axis = (delta[X] + delta[Y]) / 2;
+  y_axis = (delta[X] - delta[Y]) / 2;
+  delta[X] = x_axis;
+  delta[Y] = y_axis;
 }
diff --git a/dda_kinematics.h b/dda_kinematics.h
index 6203084..67870ef 100644
--- a/dda_kinematics.h
+++ b/dda_kinematics.h
@@ -52,17 +52,16 @@ inline void axes_um_to_steps(const axes_int32_t um, axes_int32_t steps) {
   #endif
 }
 
-void delta_to_axes_cartesian(const axes_int32_t delta_um, axes_int32_t um);
-void delta_to_axes_corexy(const axes_int32_t delta_um, axes_int32_t um);
+void delta_to_axes_cartesian(axes_int32_t delta_um);
+void delta_to_axes_corexy(axes_int32_t delta_um);
 // void delta_to_axes_scara(const axes_int32_t delta_um, axes_int32_t um);
 
-static void delta_to_axes(const axes_int32_t, axes_int32_t)
-                                        __attribute__ ((always_inline));
-inline void delta_to_axes(const axes_int32_t delta_um, axes_int32_t um) {
+static void delta_to_axes(axes_int32_t) __attribute__ ((always_inline));
+inline void delta_to_axes(axes_int32_t delta) {
   #if defined KINEMATICS_STRAIGHT
-    delta_to_axes_cartesian(delta_um, um);
+    delta_to_axes_cartesian(delta);
   #elif defined KINEMATICS_COREXY
-    delta_to_axes_corexy(delta_um, um);
+    delta_to_axes_corexy(delta);
 //  #elif defined KINEMATICS_SCARA
 //    delta_to_axes_scara(delta_um, um);
   #else