diff --git a/config/example-delta.cfg b/config/example-delta.cfg
index dbd6f191..bd2859c1 100644
--- a/config/example-delta.cfg
+++ b/config/example-delta.cfg
@@ -16,7 +16,13 @@ dir_pin: ar55
 enable_pin: !ar38
 step_distance: .01
 endstop_pin: ^ar2
+homing_speed: 50
 position_endstop: 297.05
+#   Distance (in mm) between the nozzle and the bed when the nozzle is
+#   in the center of the build area and the endstop triggers. This
+#   parameter must be provided for stepper_a; for stepper_b and
+#   stepper_c this parameter defaults to the value specified for
+#   stepper_a.
 arm_length: 333.0
 #   Length (in mm) of the diagonal rod that connects this tower to the
 #   print head. This parameter must be provided for stepper_a; for
@@ -26,7 +32,6 @@ arm_length: 333.0
 #   This option specifies the angle (in degrees) that the tower is
 #   at. The default is 210 for stepper_a, 330 for stepper_b, and 90
 #   for stepper_c.
-homing_speed: 50
 
 # The stepper_b section describes the stepper controlling the front
 # right tower (at 330 degrees).
@@ -36,7 +41,6 @@ dir_pin: ar61
 enable_pin: !ar56
 step_distance: .01
 endstop_pin: ^ar15
-position_endstop: 297.05
 
 # The stepper_c section describes the stepper controlling the rear
 # tower (at 90 degrees).
@@ -46,7 +50,6 @@ dir_pin: ar48
 enable_pin: !ar62
 step_distance: .01
 endstop_pin: ^ar19
-position_endstop: 297.05
 
 [extruder]
 step_pin: ar26
diff --git a/klippy/delta.py b/klippy/delta.py
index 5900a183..e2bb971a 100644
--- a/klippy/delta.py
+++ b/klippy/delta.py
@@ -15,8 +15,14 @@ class DeltaKinematics:
     def __init__(self, toolhead, printer, config):
         stepper_configs = [config.getsection('stepper_' + n)
                            for n in ['a', 'b', 'c']]
-        self.steppers = [stepper.PrinterHomingStepper(printer, sconfig)
-                         for sconfig in stepper_configs]
+        stepper_a = stepper.PrinterHomingStepper(printer, stepper_configs[0])
+        stepper_b = stepper.PrinterHomingStepper(
+            printer, stepper_configs[1],
+            default_position=stepper_a.position_endstop)
+        stepper_c = stepper.PrinterHomingStepper(
+            printer, stepper_configs[2],
+            default_position=stepper_a.position_endstop)
+        self.steppers = [stepper_a, stepper_b, stepper_c]
         self.need_motor_enable = self.need_home = True
         radius = config.getfloat('delta_radius', above=0.)
         arm_length_a = stepper_configs[0].getfloat('arm_length', above=radius)
diff --git a/klippy/stepper.py b/klippy/stepper.py
index 07798a1d..109d0904 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -51,13 +51,17 @@ class PrinterStepper:
 
 # Support for stepper controlled linear axis with an endstop
 class PrinterHomingStepper(PrinterStepper):
-    def __init__(self, printer, config):
+    def __init__(self, printer, config, default_position=None):
         PrinterStepper.__init__(self, printer, config)
         # Endstop and its position
         self.mcu_endstop = pins.setup_pin(
             printer, 'endstop', config.get('endstop_pin'))
         self.mcu_endstop.add_stepper(self.mcu_stepper)
-        self.position_endstop = config.getfloat('position_endstop')
+        if default_position is None:
+            self.position_endstop = config.getfloat('position_endstop')
+        else:
+            self.position_endstop = config.getfloat(
+                'position_endstop', default_position)
         # Axis range
         self.position_min = config.getfloat('position_min', 0.)
         self.position_max = config.getfloat(