diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index 837f1b5d81..ab85ab5926 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -225,9 +225,12 @@ void ok_to_send();
 
 void reset_bed_level();
 void prepare_move();
-void set_current_position_from_planner();
 void kill(const char*);
 
+#if DISABLED(DELTA) && DISABLED(SCARA)
+  void set_current_position_from_planner();
+#endif
+
 #if ENABLED(FILAMENT_RUNOUT_SENSOR)
   void handle_filament_runout();
 #endif
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 1e98877bec..1feb42d7a4 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -5894,20 +5894,22 @@ inline void gcode_M400() { stepper.synchronize(); }
 
 #endif // FILAMENT_WIDTH_SENSOR
 
-void set_current_position_from_planner() {
-  stepper.synchronize();
-  #if ENABLED(AUTO_BED_LEVELING_FEATURE)
-    vector_3 pos = planner.adjusted_position(); // values directly from steppers...
-    current_position[X_AXIS] = pos.x;
-    current_position[Y_AXIS] = pos.y;
-    current_position[Z_AXIS] = pos.z;
-  #else
-    current_position[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
-    current_position[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
-    current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
-  #endif
-  sync_plan_position();                       // ...re-apply to planner position
-}
+#if DISABLED(DELTA) && DISABLED(SCARA)
+  void set_current_position_from_planner() {
+    stepper.synchronize();
+    #if ENABLED(AUTO_BED_LEVELING_FEATURE)
+      vector_3 pos = planner.adjusted_position(); // values directly from steppers...
+      current_position[X_AXIS] = pos.x;
+      current_position[Y_AXIS] = pos.y;
+      current_position[Z_AXIS] = pos.z;
+    #else
+      current_position[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
+      current_position[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
+      current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
+    #endif
+    sync_plan_position();                       // ...re-apply to planner position
+  }
+#endif
 
 /**
  * M410: Quickstop - Abort all planned moves
@@ -5917,7 +5919,9 @@ void set_current_position_from_planner() {
  */
 inline void gcode_M410() {
   stepper.quick_stop();
-  set_current_position_from_planner();
+  #if DISABLED(DELTA) && DISABLED(SCARA)
+    set_current_position_from_planner();
+  #endif
 }
 
 
diff --git a/Marlin/endstops.cpp b/Marlin/endstops.cpp
index 91f6d31999..945b615779 100644
--- a/Marlin/endstops.cpp
+++ b/Marlin/endstops.cpp
@@ -187,7 +187,9 @@ void Endstops::report_state() {
         card.sdprinting = false;
         card.closefile();
         stepper.quick_stop();
-        set_current_position_from_planner();
+        #if DISABLED(DELTA) && DISABLED(SCARA)
+          set_current_position_from_planner();
+        #endif
         thermalManager.disable_all_heaters(); // switch off all heaters.
       }
     #endif
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index c1526e4a44..1a0071d1b3 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -482,7 +482,9 @@ inline void line_to_current(AxisEnum axis) {
 
   static void lcd_sdcard_stop() {
     stepper.quick_stop();
-    set_current_position_from_planner();
+    #if DISABLED(DELTA) && DISABLED(SCARA)
+      set_current_position_from_planner();
+    #endif
     clear_command_queue();
     card.sdprinting = false;
     card.closefile();