diff --git a/api/opentrons/drivers/smoothie_drivers/driver_3_0.py b/api/opentrons/drivers/smoothie_drivers/driver_3_0.py
index eb1283a7640..1d5b4a43832 100755
--- a/api/opentrons/drivers/smoothie_drivers/driver_3_0.py
+++ b/api/opentrons/drivers/smoothie_drivers/driver_3_0.py
@@ -872,8 +872,8 @@ def _home_x(self):
         log.debug("_home_x")
         # move the gantry forward on Y axis with low power
         self._save_current({'Y': Y_BACKOFF_LOW_CURRENT})
-        self.push_speed()
-        self.set_speed(Y_BACKOFF_SLOW_SPEED)
+        self.push_axis_max_speed()
+        self.set_axis_max_speed({'Y': Y_BACKOFF_SLOW_SPEED})
 
         # move away from the Y endstop switch, then backward half that distance
         relative_retract_command = '{0} {1}Y{2} {3}Y{4} {5}'.format(
@@ -888,13 +888,11 @@ def _home_x(self):
         command = '{0} {1}'.format(
             self._generate_current_command(), relative_retract_command)
         self._send_command(command, timeout=DEFAULT_MOVEMENT_TIMEOUT)
-        self.pop_speed()
         self.dwell_axes('Y')
 
         # now it is safe to home the X axis
         try:
             # override firmware's default XY homing speed, to avoid resonance
-            self.push_axis_max_speed()
             self.set_axis_max_speed({'X': XY_HOMING_SPEED})
             self.activate_axes('X')
             command = '{0} {1}'.format(
diff --git a/api/opentrons/tools/gantry_test.py b/api/opentrons/tools/gantry_test.py
index 0ae01259977..84d2cbfb0ea 100644
--- a/api/opentrons/tools/gantry_test.py
+++ b/api/opentrons/tools/gantry_test.py
@@ -9,11 +9,13 @@
 """
 
 from opentrons import robot
-from opentrons.drivers.smoothie_drivers.driver_3_0 import SmoothieError
+from opentrons.drivers.smoothie_drivers.driver_3_0 import \
+    SmoothieError, DEFAULT_AXES_SPEED
 
 
 def setup_motor_current():
     # only set the current, keeping all other settings at the driver's default
+    robot._driver.set_speed(DEFAULT_AXES_SPEED)
     x_current = robot.config.high_current['X'] * 0.85
     y_current = robot.config.high_current['Y'] * 0.85
     robot._driver.set_active_current(
diff --git a/api/tests/opentrons/drivers/test_driver.py b/api/tests/opentrons/drivers/test_driver.py
index 0cc59268829..c8011bcdef5 100755
--- a/api/tests/opentrons/drivers/test_driver.py
+++ b/api/tests/opentrons/drivers/test_driver.py
@@ -212,9 +212,8 @@ def _parse_position_response(arg):
     expected = [
         ['M907 A0.8 B0.5 C0.5 X0.3 Y0.3 Z0.8 G4P0.005 G28.2.+[ABCZ].+ M400'],
         ['M907 A0.1 B0.05 C0.05 X0.3 Y0.3 Z0.1 G4P0.005 M400'],
-        ['G0F3000 M400'],
+        ['M203.1 Y50 M400'],
         ['M907 A0.1 B0.05 C0.05 X0.3 Y0.8 Z0.1 G4P0.005 G91 G0Y-28 G0Y10 G90 M400'],  # NOQA
-        ['G0F24000 M400'],
         ['M203.1 X80 M400'],
         ['M907 A0.1 B0.05 C0.05 X1.25 Y0.3 Z0.1 G4P0.005 G28.2X M400'],
         ['M203.1 A125 B50 C50 X600 Y400 Z125 M400'],