diff --git a/klippy/cartesian.py b/klippy/cartesian.py
index 860ce9fd..60fe9976 100644
--- a/klippy/cartesian.py
+++ b/klippy/cartesian.py
@@ -67,16 +67,17 @@ class CartKinematics:
     def query_endstops(self, move_time):
         return homing.QueryEndstops(["x", "y", "z"], self.steppers)
     def check_endstops(self, move):
+        end_pos = move.end_pos
         for i in StepList:
             if (move.axes_d[i]
-                and (move.pos[i] < self.limits[i][0]
-                     or move.pos[i] > self.limits[i][1])):
+                and (end_pos[i] < self.limits[i][0]
+                     or end_pos[i] > self.limits[i][1])):
                 if self.limits[i][0] > self.limits[i][1]:
-                    raise homing.EndstopError(move.pos, "Must home axis first")
-                raise homing.EndstopError(move.pos)
+                    raise homing.EndstopError(end_pos, "Must home axis first")
+                raise homing.EndstopError(end_pos)
     def check_move(self, move):
         limits = self.limits
-        xpos, ypos = move.pos[:2]
+        xpos, ypos = move.end_pos[:2]
         if (xpos < limits[0][0] or xpos > limits[0][1]
             or ypos < limits[1][0] or ypos > limits[1][1]):
             self.check_endstops(move)
@@ -96,7 +97,8 @@ class CartKinematics:
         inv_accel = 1. / move.accel
         inv_cruise_v = 1. / move.cruise_v
         for i in StepList:
-            new_step_pos = int(move.pos[i]*self.steppers[i].inv_step_dist + 0.5)
+            new_step_pos = int(
+                move.end_pos[i]*self.steppers[i].inv_step_dist + 0.5)
             steps = new_step_pos - self.stepper_pos[i]
             if not steps:
                 continue
diff --git a/klippy/extruder.py b/klippy/extruder.py
index 94686fdd..8e9298c5 100644
--- a/klippy/extruder.py
+++ b/klippy/extruder.py
@@ -21,7 +21,7 @@ class PrinterExtruder:
         self.stepper.motor_enable(move_time, 0)
     def check_move(self, move):
         if not self.heater.can_extrude:
-            raise homing.EndstopError(move.pos, "Extrude below minimum temp")
+            raise homing.EndstopError(move.end_pos, "Extrude below minimum temp")
         if (not move.do_calc_junction
             and not move.axes_d[0] and not move.axes_d[1]
             and not move.axes_d[2]):
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index e73a2d15..1cda18df 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -14,12 +14,13 @@ EXTRUDE_DIFF_IGNORE = 1.02
 
 # Class to track each move request
 class Move:
-    def __init__(self, toolhead, pos, axes_d, speed, accel):
+    def __init__(self, toolhead, start_pos, end_pos, speed, accel):
         self.toolhead = toolhead
-        self.pos = tuple(pos)
-        self.axes_d = axes_d
+        self.start_pos = tuple(start_pos)
+        self.end_pos = tuple(end_pos)
         self.accel = accel
         self.do_calc_junction = True
+        self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)]
         if axes_d[2]:
             # Move with Z
             move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
@@ -29,6 +30,10 @@ class Move:
             if not move_d:
                 # Extrude only move
                 move_d = abs(axes_d[3])
+                if not move_d:
+                    # No move
+                    self.move_d = 0.
+                    return
                 self.do_calc_junction = False
         self.move_d = move_d
         self.extrude_r = axes_d[3] / move_d
@@ -245,15 +250,12 @@ class ToolHead:
         self.commanded_pos[:] = newpos
         self.kin.set_position(newpos)
     def move(self, newpos, speed, sloppy=False):
-        axes_d = [newpos[i] - self.commanded_pos[i]
-                  for i in (0, 1, 2, 3)]
-        if axes_d == [0., 0., 0., 0.]:
-            # No move
-            return
         speed = min(speed, self.max_speed)
-        move = Move(self, newpos, axes_d, speed, self.max_accel)
+        move = Move(self, self.commanded_pos, newpos, speed, self.max_accel)
+        if not move.move_d:
+            return
         self.kin.check_move(move)
-        if axes_d[3]:
+        if move.axes_d[3]:
             self.extruder.check_move(move)
         self.commanded_pos[:] = newpos
         self.move_queue.add_move(move)