# Klipper Kinematics Bug Report

**URL:** <https://klipper.discourse.group/t/klipper-kinematics-bug-report/10169>\
**Category:** General Discussion\
**Created:** [August 29, 2023, 3:47am UTC](https://klipper.discourse.group/t/klipper-kinematics-bug-report/10169 "2023-08-29T03:47:57Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![lzf](https://avatars.discourse-cdn.com/v4/letter/l/ecccb3/32.png) [@lzf](https://klipper.discourse.group/u/lzf)\
**Post date:** [August 29, 2023, 3:47am UTC](https://klipper.discourse.group/t/klipper-kinematics-bug-report/10169/1 "2023-08-29T03:47:57Z")

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Run the following G-code on a normal machine:

M104 T0 S170  
G28  
M109 T0 S170  
G1 F180 E-1  
G1 F3600 X132.959 Z0.2  
G1 F3600 X132.955 E0

It will report an error and shut down:

MCU ‘mcu’ shutdown: Stepper too far in past  
This generally occurs when the micro-controller has been  
requested to step at a rate higher than it is capable of  
obtaining.  
Once the underlying issue is corrected, use the  
“FIRMWARE\_RESTART” command to reset the firmware, reload the  
config, and restart the host software.  
Printer is shutdown

Is there an expert to help solve this bug？

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**Author:** ![mykepredko](https://yyz2.discourse-cdn.com/free1/user_avatar/klipper.discourse.group/mykepredko/32/2085_2.png) [@mykepredko](https://klipper.discourse.group/u/mykepredko)\
**Post date:** [August 29, 2023, 4:15am UTC](https://klipper.discourse.group/t/klipper-kinematics-bug-report/10169/2 "2023-08-29T04:15:39Z")

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Could you please provide the information that was requested of you when you first posted:  
 Printer Model:  
 MCU / Printerboard:  
 `klippy.log`

Nothing will happen without this information. I would suggest that you also include what is your host machine (ie is it a Raspberry Pi?).

I’m curious to know what a “normal machine” is. I didn’t think such an animal existed.