diff --git a/Grbl_Esp32/Custom/parallel_delta.cpp b/Grbl_Esp32/Custom/parallel_delta.cpp
index 6d120f9a..624ecde1 100644
--- a/Grbl_Esp32/Custom/parallel_delta.cpp
+++ b/Grbl_Esp32/Custom/parallel_delta.cpp
@@ -50,7 +50,7 @@
     Better: http://hypertriangle.com/~alex/delta-robot-tutorial/
 */
 
-#include "../src/Settings.h" 
+#include "../src/Settings.h"
 
 enum class KinematicError : uint8_t {
     NONE               = 0,
@@ -130,7 +130,6 @@ void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* positio
 
     grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Start %3.3f %3.3f %3.3f", position[0], position[1], position[2]);
     grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Target %3.3f %3.3f %3.3f", target[0], target[1], target[2]);
-    
 
     status = delta_calcInverse(position, motor_angles);
     if (status == KinematicError::OUT_OF_RANGE) {
@@ -198,6 +197,13 @@ void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* positio
     }
 }
 
+// this is used used by soft limits to see if the range of the machine is exceeded.
+uint8_t kinematic_limits_check(float* target) {
+    float motor_angles[3];
+
+    return (delta_calcInverse(target, motor_angles) == KinematicError::NONE);
+}
+
 // inverse kinematics: cartesian -> angles
 // returned status: 0=OK, -1=non-existing position
 KinematicError delta_calcInverse(float* cartesian, float* angles) {
diff --git a/Grbl_Esp32/src/Grbl.h b/Grbl_Esp32/src/Grbl.h
index 04ac70fc..cc362fbb 100644
--- a/Grbl_Esp32/src/Grbl.h
+++ b/Grbl_Esp32/src/Grbl.h
@@ -103,6 +103,7 @@ bool user_defined_homing();
 void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* position);
 bool kinematics_pre_homing(uint8_t cycle_mask);
 void kinematics_post_homing();
+uint8_t kinematic_limits_check(float* target);
 
 // Called if USE_FWD_KINEMATICS is defined
 void inverse_kinematics(float* position);  // used to return a converted value
diff --git a/Grbl_Esp32/src/MotionControl.cpp b/Grbl_Esp32/src/MotionControl.cpp
index eb2e15e3..bdd12188 100644
--- a/Grbl_Esp32/src/MotionControl.cpp
+++ b/Grbl_Esp32/src/MotionControl.cpp
@@ -219,11 +219,7 @@ void mc_arc(float*            target,
         }
     }
     // Ensure last segment arrives at target location.
-#ifdef USE_KINEMATICS
     mc_line_kins(target, pl_data, previous_position);
-#else
-    mc_line(target, pl_data);
-#endif
 }
 
 // Execute dwell in seconds.