How do I explain that I cannot commit to someone who isn't willing to help?

My relationship of 9 years went from dating, to living together / engaged, separated living apart, living together again, engagement called off, and now dating/friends. It's a good day when we can call ourselves friend. Here's one of the issues that I let keep us apart: He wants to start reengagement and live together again, but won't commit to my familly. My little girl is sick today and he is off work, I have a new job and he himself told me there's no way I can stay home with it, it's a stupid idea. However, I asked him to stay home with her and said NO. As usual. How can I explain to him that I can't commit to a relationship/partner who isn't willing to help out with family matters.