diff --git a/g2core/spindle.cpp b/g2core/spindle.cpp
index 106b0fe5..de143006 100644
--- a/g2core/spindle.cpp
+++ b/g2core/spindle.cpp
@@ -126,12 +126,13 @@ void _actually_set_spindle_speed() {
         if (spindle.speed < speed_lo) {
             spindle.speed = speed_lo;
         }
-        if (spindle.speed_actual < speed_lo) {
-            spindle.speed_actual = speed_lo;
-        }
+
+        // allow spindle.speed_actual to start at 0 to match physical spinup
+
         if (spindle.speed > speed_hi) {
             spindle.speed = speed_hi;
         }
+
         if (spindle.speed_actual > speed_hi) {
             spindle.speed_actual = speed_hi;
         }
@@ -423,6 +424,9 @@ bool spindle_speed_ramp_from_systick() {
             }
         }
         pwm_set_duty(PWM_1, _get_spindle_pwm(spindle, pwm));
+    } else {
+        spindle.speed_actual = 0;
+        pwm_set_duty(PWM_1, _get_spindle_pwm(spindle, pwm));
     }
     return done;
 #else