diff --git a/klippy/cartesian.py b/klippy/cartesian.py
index d1747e6e..ee27f7b3 100644
--- a/klippy/cartesian.py
+++ b/klippy/cartesian.py
@@ -43,18 +43,19 @@ class CartKinematics:
                 rpos = s.position_endstop + s.homing_retract_dist
                 r2pos = rpos + s.homing_retract_dist
             # Initial homing
+            homing_speed = s.get_homing_speed()
             homepos = [None, None, None, None]
             homepos[axis] = s.position_endstop
             coord = [None, None, None, None]
             coord[axis] = pos
-            homing_state.home(list(coord), homepos, [s], s.homing_speed)
+            homing_state.home(list(coord), homepos, [s], homing_speed)
             # Retract
             coord[axis] = rpos
-            homing_state.retract(list(coord), s.homing_speed)
+            homing_state.retract(list(coord), homing_speed)
             # Home again
             coord[axis] = r2pos
             homing_state.home(
-                list(coord), homepos, [s], s.homing_speed/2.0, second_home=True)
+                list(coord), homepos, [s], homing_speed/2.0, second_home=True)
             # Set final homed position
             coord[axis] = s.position_endstop + s.get_homed_offset()
             homing_state.set_homed_position(coord)
diff --git a/klippy/corexy.py b/klippy/corexy.py
index 1fdfa817..2069d16b 100644
--- a/klippy/corexy.py
+++ b/klippy/corexy.py
@@ -46,18 +46,19 @@ class CoreXYKinematics:
                 rpos = s.position_endstop + s.homing_retract_dist
                 r2pos = rpos + s.homing_retract_dist
             # Initial homing
+            homing_speed = s.get_homing_speed()
             homepos = [None, None, None, None]
             homepos[axis] = s.position_endstop
             coord = [None, None, None, None]
             coord[axis] = pos
-            homing_state.home(list(coord), homepos, [s], s.homing_speed)
+            homing_state.home(list(coord), homepos, [s], homing_speed)
             # Retract
             coord[axis] = rpos
-            homing_state.retract(list(coord), s.homing_speed)
+            homing_state.retract(list(coord), homing_speed)
             # Home again
             coord[axis] = r2pos
             homing_state.home(
-                list(coord), homepos, [s], s.homing_speed/2.0, second_home=True)
+                list(coord), homepos, [s], homing_speed/2.0, second_home=True)
             if axis == 2:
                 # Support endstop phase detection on Z axis
                 coord[axis] = s.position_endstop + s.get_homed_offset()
diff --git a/klippy/delta.py b/klippy/delta.py
index 8d8ecf04..fc796cd4 100644
--- a/klippy/delta.py
+++ b/klippy/delta.py
@@ -107,17 +107,18 @@ class DeltaKinematics:
         s = self.steppers[0] # Assume homing speed same for all steppers
         self.need_home = False
         # Initial homing
+        homing_speed = s.get_homing_speed()
         homepos = [0., 0., self.max_z, None]
         coord = list(homepos)
         coord[2] = -1.5 * math.sqrt(self.arm_length2-self.max_xy2)
-        homing_state.home(list(coord), homepos, self.steppers, s.homing_speed)
+        homing_state.home(list(coord), homepos, self.steppers, homing_speed)
         # Retract
         coord[2] = homepos[2] - s.homing_retract_dist
-        homing_state.retract(list(coord), s.homing_speed)
+        homing_state.retract(list(coord), homing_speed)
         # Home again
         coord[2] -= s.homing_retract_dist
         homing_state.home(list(coord), homepos, self.steppers
-                          , s.homing_speed/2.0, second_home=True)
+                          , homing_speed/2.0, second_home=True)
         # Set final homed position
         spos = self._cartesian_to_actuator(homepos)
         spos = [spos[i] + self.steppers[i].position_endstop - self.max_z
diff --git a/klippy/stepper.py b/klippy/stepper.py
index 9a0233ec..ece63029 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -104,6 +104,12 @@ class PrinterHomingStepper(PrinterStepper):
         mcu_time = self.mcu_endstop.get_mcu().print_to_mcu_time(print_time)
         self.mcu_endstop.query_endstop(mcu_time)
         return self.mcu_endstop
+    def get_homing_speed(self):
+        # Round the configured homing speed so that it is an even
+        # number of ticks per step.
+        dist_ticks = self.mcu_stepper.get_mcu().get_mcu_freq() * self.step_dist
+        ticks_per_step = round(dist_ticks / self.homing_speed)
+        return dist_ticks / ticks_per_step
     def get_homed_offset(self):
         if not self.homing_stepper_phases or self.need_motor_enable:
             return 0