diff --git a/klippy/extras/bltouch.py b/klippy/extras/bltouch.py
index 50e27e0e..71c731f2 100644
--- a/klippy/extras/bltouch.py
+++ b/klippy/extras/bltouch.py
@@ -4,7 +4,6 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging
-import homing
 from . import probe
 
 SIGNAL_PERIOD = 0.020
@@ -82,7 +81,7 @@ class BLTouchEndstopWrapper:
         self.set_output_mode(self.output_mode)
         try:
             self.raise_probe()
-        except homing.CommandError as e:
+        except self.printer.command_error as e:
             logging.warning("BLTouch raise probe error: %s", str(e))
     def sync_mcu_print_time(self):
         curtime = self.printer.get_reactor().monotonic()
@@ -128,7 +127,8 @@ class BLTouchEndstopWrapper:
                 # The "probe raised" test completed successfully
                 break
             if retry >= 2:
-                raise homing.EndstopError("BLTouch failed to raise probe")
+                raise self.printer.command_error(
+                    "BLTouch failed to raise probe")
             msg = "Failed to verify BLTouch probe is raised; retrying."
             self.gcode.respond_info(msg)
             self.sync_mcu_print_time()
@@ -161,7 +161,7 @@ class BLTouchEndstopWrapper:
                 return
             msg = "BLTouch failed to verify sensor state"
             if retry >= 2:
-                raise homing.EndstopError(msg)
+                raise self.printer.command_error(msg)
             self.gcode.respond_info(msg + '; retrying.')
             self.send_cmd('reset', duration=RETRY_RESET_TIME)
     def multi_probe_begin(self):
@@ -191,7 +191,7 @@ class BLTouchEndstopWrapper:
         # Verify the probe actually deployed during the attempt
         for s, mcu_pos in self.start_mcu_pos:
             if s.get_mcu_position() == mcu_pos:
-                raise homing.EndstopError("BLTouch failed to deploy")
+                raise self.printer.command_error("BLTouch failed to deploy")
     def home_start(self, print_time, sample_time, sample_count, rest_time):
         rest_time = min(rest_time, ENDSTOP_REST_TIME)
         return self.mcu_endstop.home_start(print_time, sample_time,
diff --git a/klippy/extras/endstop_phase.py b/klippy/extras/endstop_phase.py
index 8cfea7fd..ae22720d 100644
--- a/klippy/extras/endstop_phase.py
+++ b/klippy/extras/endstop_phase.py
@@ -4,7 +4,6 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import math, logging
-import homing
 
 TRINAMIC_DRIVERS = ["tmc2130", "tmc2208", "tmc2209", "tmc2660", "tmc5160"]
 
@@ -81,7 +80,7 @@ class EndstopPhase:
             except Exception as e:
                 msg = "Unable to get stepper %s phase: %s" % (self.name, str(e))
                 logging.exception(msg)
-                raise homing.EndstopError(msg)
+                raise self.printer.command_error(msg)
             if stepper.is_dir_inverted():
                 phase = (self.phases - 1) - phase
         else:
@@ -95,7 +94,7 @@ class EndstopPhase:
         if delta >= self.phases - self.endstop_phase_accuracy:
             delta -= self.phases
         elif delta > self.endstop_phase_accuracy:
-            raise homing.EndstopError(
+            raise self.printer.command_error(
                 "Endstop %s incorrect phase (got %d vs %d)" % (
                     self.name, phase, self.endstop_phase))
         return delta * self.step_dist
diff --git a/klippy/homing.py b/klippy/homing.py
index ce9a3de8..2e2e072d 100644
--- a/klippy/homing.py
+++ b/klippy/homing.py
@@ -101,8 +101,8 @@ class Homing:
             for s, name, spos, epos in end_mcu_pos:
                 if spos == epos:
                     if probe_pos:
-                        raise EndstopError("Probe triggered prior to movement")
-                    raise EndstopError(
+                        raise CommandError("Probe triggered prior to movement")
+                    raise CommandError(
                         "Endstop %s still triggered after retract" % (name,))
     def home_rails(self, rails, forcepos, movepos):
         # Notify of upcoming homing operation
@@ -161,7 +161,4 @@ def multi_complete(printer, completions):
 class CommandError(Exception):
     pass
 
-class EndstopError(CommandError):
-    pass
-
 Coord = collections.namedtuple('Coord', ('x', 'y', 'z', 'e'))
diff --git a/klippy/kinematics/cartesian.py b/klippy/kinematics/cartesian.py
index 073b0b3d..b568dae8 100644
--- a/klippy/kinematics/cartesian.py
+++ b/klippy/kinematics/cartesian.py
@@ -4,7 +4,7 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging
-import stepper, homing
+import stepper
 
 class CartKinematics:
     def __init__(self, toolhead, config):
diff --git a/klippy/kinematics/corexy.py b/klippy/kinematics/corexy.py
index 47b766b0..51ef9d43 100644
--- a/klippy/kinematics/corexy.py
+++ b/klippy/kinematics/corexy.py
@@ -4,7 +4,7 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging, math
-import stepper, homing
+import stepper
 
 class CoreXYKinematics:
     def __init__(self, toolhead, config):
diff --git a/klippy/kinematics/corexz.py b/klippy/kinematics/corexz.py
index 6cc21624..d6d43488 100644
--- a/klippy/kinematics/corexz.py
+++ b/klippy/kinematics/corexz.py
@@ -4,7 +4,7 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging, math
-import stepper, homing
+import stepper
 
 class CoreXZKinematics:
     def __init__(self, toolhead, config):
diff --git a/klippy/kinematics/delta.py b/klippy/kinematics/delta.py
index 427fabda..506052df 100644
--- a/klippy/kinematics/delta.py
+++ b/klippy/kinematics/delta.py
@@ -4,7 +4,7 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import math, logging
-import stepper, homing, mathutil
+import stepper, mathutil
 
 # Slow moves once the ratio of tower to XY movement exceeds SLOW_RATIO
 SLOW_RATIO = 3.
diff --git a/klippy/kinematics/extruder.py b/klippy/kinematics/extruder.py
index 28bd59a2..302c4eed 100644
--- a/klippy/kinematics/extruder.py
+++ b/klippy/kinematics/extruder.py
@@ -107,13 +107,13 @@ class PrinterExtruder:
     def check_move(self, move):
         axis_r = move.axes_r[3]
         if not self.heater.can_extrude:
-            raise homing.EndstopError(
+            raise self.printer.command_error(
                 "Extrude below minimum temp\n"
                 "See the 'min_extrude_temp' config option for details")
         if (not move.axes_d[0] and not move.axes_d[1]) or axis_r < 0.:
             # Extrude only move (or retraction move) - limit accel and velocity
             if abs(move.axes_d[3]) > self.max_e_dist:
-                raise homing.EndstopError(
+                raise self.printer.command_error(
                     "Extrude only move too long (%.3fmm vs %.3fmm)\n"
                     "See the 'max_extrude_only_distance' config"
                     " option for details" % (move.axes_d[3], self.max_e_dist))
@@ -127,7 +127,7 @@ class PrinterExtruder:
             area = axis_r * self.filament_area
             logging.debug("Overextrude: %s vs %s (area=%.3f dist=%.3f)",
                           axis_r, self.max_extrude_ratio, area, move.move_d)
-            raise homing.EndstopError(
+            raise self.printer.command_error(
                 "Move exceeds maximum extrusion (%.3fmm^2 vs %.3fmm^2)\n"
                 "See the 'max_extrude_cross_section' config option for details"
                 % (area, self.max_extrude_ratio * self.filament_area))
diff --git a/klippy/kinematics/polar.py b/klippy/kinematics/polar.py
index 93ab59d2..0873de65 100644
--- a/klippy/kinematics/polar.py
+++ b/klippy/kinematics/polar.py
@@ -4,7 +4,7 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging, math
-import stepper, homing
+import stepper
 
 class PolarKinematics:
     def __init__(self, toolhead, config):
diff --git a/klippy/kinematics/rotary_delta.py b/klippy/kinematics/rotary_delta.py
index 41cae032..c11dd6f6 100644
--- a/klippy/kinematics/rotary_delta.py
+++ b/klippy/kinematics/rotary_delta.py
@@ -4,7 +4,7 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import math, logging
-import stepper, homing, mathutil, chelper
+import stepper, mathutil, chelper
 
 class RotaryDeltaKinematics:
     def __init__(self, toolhead, config):
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index c6797942..f14e81b9 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -55,9 +55,9 @@ class Move:
         self.delta_v2 = 2.0 * self.move_d * self.accel
         self.smooth_delta_v2 = min(self.smooth_delta_v2, self.delta_v2)
     def move_error(self, msg="Move out of range"):
-        pos = self.end_pos
-        return homing.EndstopError("%s: %.3f %.3f %.3f [%.3f]"
-                                   % (msg, pos[0], pos[1], pos[2], pos[3]))
+        ep = self.end_pos
+        m = "%s: %.3f %.3f %.3f [%.3f]" % (msg, ep[0], ep[1], ep[2], ep[3])
+        return self.toolhead.printer.command_error(m)
     def calc_junction(self, prev_move):
         if not self.is_kinematic_move or not prev_move.is_kinematic_move:
             return