diff --git a/klippy/cartesian.py b/klippy/cartesian.py
index 8be83a71..100ce220 100644
--- a/klippy/cartesian.py
+++ b/klippy/cartesian.py
@@ -21,25 +21,19 @@ class CartKinematics:
         self.stepper_pos = [int(newpos[i]*self.steppers[i].inv_step_dist + 0.5)
                             for i in StepList]
     def get_max_xy_speed(self):
-        max_xy_speed = min(s.max_step_velocity*s.step_dist
-                           for s in self.steppers[:2])
-        max_xy_accel = min(s.max_step_accel*s.step_dist
-                           for s in self.steppers[:2])
+        max_xy_speed = min(s.max_velocity for s in self.steppers[:2])
+        max_xy_accel = min(s.max_accel for s in self.steppers[:2])
         return max_xy_speed, max_xy_accel
     def get_max_speed(self, axes_d, move_d):
         # Calculate max speed and accel for a given move
-        velocity_factor = min(
-            [self.steppers[i].max_step_velocity
-             * self.steppers[i].step_dist / abs(axes_d[i])
-             for i in StepList if axes_d[i]])
-        accel_factor = min(
-            [self.steppers[i].max_step_accel
-             * self.steppers[i].step_dist / abs(axes_d[i])
-             for i in StepList if axes_d[i]])
+        velocity_factor = min([self.steppers[i].max_velocity / abs(axes_d[i])
+                               for i in StepList if axes_d[i]])
+        accel_factor = min([self.steppers[i].max_accel / abs(axes_d[i])
+                            for i in StepList if axes_d[i]])
         return velocity_factor * move_d, accel_factor * move_d
     def get_max_e_speed(self):
         s = self.steppers[3]
-        return s.max_step_velocity*s.step_dist, s.max_step_accel*s.step_dist
+        return s.max_velocity, s.max_accel
     def home(self, toolhead, axis):
         # Each axis is homed independently and in order
         homing_state = homing.Homing(toolhead, self.steppers) # XXX
diff --git a/klippy/stepper.py b/klippy/stepper.py
index 61faaee0..5a05e910 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -13,10 +13,8 @@ class PrinterStepper:
 
         self.step_dist = config.getfloat('step_distance')
         self.inv_step_dist = 1. / self.step_dist
-        max_velocity = config.getfloat('max_velocity')
-        self.max_step_velocity = max_velocity * self.inv_step_dist
-        max_accel = config.getfloat('max_accel')
-        self.max_step_accel = max_accel * self.inv_step_dist
+        self.max_velocity = config.getfloat('max_velocity')
+        self.max_accel = config.getfloat('max_accel')
 
         self.homing_speed = config.getfloat('homing_speed', 5.0)
         self.homing_positive_dir = config.getboolean(
@@ -36,7 +34,8 @@ class PrinterStepper:
         step_pin = self.config.get('step_pin')
         dir_pin = self.config.get('dir_pin')
         jc = 0.005 # XXX
-        min_stop_interval = int((math.sqrt(1./self.max_step_accel + jc**2) - jc)
+        inv_max_step_accel = self.step_dist / self.max_accel
+        min_stop_interval = int((math.sqrt(inv_max_step_accel + jc**2) - jc)
                                 * self.clock_ticks) - max_error
         min_stop_interval = max(0, min_stop_interval)
         mcu = self.printer.mcu