diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index ded8b1f50e..c0b773430d 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -314,6 +314,7 @@ float code_value_temp_diff();
     void adjust_delta(float cartesian[3]);
   #endif
 #elif ENABLED(SCARA)
+  extern float delta[3];
   extern float axis_scaling[3];  // Build size scaling
   void inverse_kinematics(const float cartesian[3]);
   void forward_kinematics_SCARA(float f_scara[3]);
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 777d910163..68bffded0e 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -456,7 +456,7 @@ static uint8_t target_extruder;
   #define TOWER_2 Y_AXIS
   #define TOWER_3 Z_AXIS
 
-  float delta[3] = { 0 };
+  float delta[3];
   float cartesian_position[3] = { 0 };
   #define SIN_60 0.8660254037844386
   #define COS_60 0.5
@@ -489,7 +489,7 @@ static uint8_t target_extruder;
 
 #if ENABLED(SCARA)
   float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
-  static float delta[3] = { 0 };
+  float delta[3];
   float axis_scaling[3] = { 1, 1, 1 };    // Build size scaling, default to 1
 #endif
 
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 7ced932c9b..ac41165d51 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -1183,7 +1183,12 @@ void Planner::reset_acceleration_rates() {
 // Recalculate position, steps_to_mm if axis_steps_per_mm changes!
 void Planner::refresh_positioning() {
   LOOP_XYZE(i) planner.steps_to_mm[i] = 1.0 / planner.axis_steps_per_mm[i];
-  set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+  #if ENABLED(DELTA) || ENABLED(SCARA)
+    inverse_kinematics(current_position);
+    set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
+  #else
+    set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+  #endif
   reset_acceleration_rates();
 }