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diff --git a/docs/G-Codes.md b/docs/G-Codes.md
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@@ -80,6 +80,10 @@ The following standard commands are supported:
cycles. If the WRITE_FILE parameter is enabled, then the file
/tmp/heattest.txt will be created with a log of all temperature
samples taken during the test.
+- `SET_VELOCITY_LIMIT [VELOCITY=<value>] [ACCEL=<value>]
+ [ACCEL_TO_DECEL=<value>] [JUNCTION_DEVIATION=<value>]`: Modify the
+ printer's velocity limits. Note that one may only set values less
+ than or equal to the limits specified in the config file.
- `SET_PRESSURE_ADVANCE [ADVANCE=<pressure_advance>]
[ADVANCE_LOOKAHEAD_TIME=<pressure_advance_lookahead_time>]`:
Set pressure advance parameters.