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HOW ADD G38 AND S24000

HELLO GUYS, MY NAME IS LUIS.

I'M MOVE INTO CNC WORLD WITH GRBL. I'M MOVE TO EXPLORE MARLIN BECAUSE THIS CAN USE WITHOUT COMPUTER AND HAVE LCD AND SD CARD.

I was looking at some topics about adding the function G38.2 which is a specific CNC Router command. My request is: is there a video or guide to make the change myself?

And the other question is yes you can modify the PWM D8, D9 or D10 from S255 (MAX) to S24000 That in this case would be the RPM of a spindle in the screen and in the command input for example:

S12000
M3

In this case, 50% of the RPM that would be 5V output is sent.
I hope to understand and learn from you, thank you very much.

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