diff --git a/README.md b/README.md
index 5968ce2..dd9a8f7 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 ## grblHAL ##
 
-Latest build date is 20250716, see the [changelog](changelog.md) for details.  
+Latest build date is 20250718, see the [changelog](changelog.md) for details.  
 
 > [!NOTE]
 >  A settings reset will be performed on an update of builds prior to 20241208. Backup and restore of settings is recommended.  
diff --git a/changelog.md b/changelog.md
index 25a4815..75a258d 100644
--- a/changelog.md
+++ b/changelog.md
@@ -1,5 +1,17 @@
 ## grblHAL changelog
 
+<a name="20250718">Build 20250718
+
+Core:
+
+* Added early (on startup) configuration of secondary PWM spindles.
+
+Drivers:
+
+* iMXRT1062: added support for second driver based PWM spindle, enabled it as an option in the T41U5XBB map. Ref. issue [#99](https://github.com/grblHAL/iMXRT1062/issues/99).
+ 
+---
+ 
 <a name="20250716">Build 20250716
 
 Core:
@@ -8,7 +20,7 @@ Core:
 
 Drivers:
 
-* iMXRT1062: removed stray code guard preventing initialisation of analog auxiliary outputs. Refs issue [#99](https://github.com/grblHAL/iMXRT1062/issues/99).
+* iMXRT1062: removed stray code guard preventing initialisation of analog auxiliary outputs. Ref. issue [#99](https://github.com/grblHAL/iMXRT1062/issues/99).
 
 * STM32F1xx, STM32F3xx, STM32F4xx, STM32F7xx: ensured stepper enable signals are set to disabled during startup.
 > [!NOTE]
diff --git a/grbl.h b/grbl.h
index b980f40..73e8968 100644
--- a/grbl.h
+++ b/grbl.h
@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20250716
+#define GRBL_BUILD 20250718
 
 #define GRBL_URL "https://github.com/grblHAL"
 
diff --git a/spindle_control.c b/spindle_control.c
index 53c6eaf..242a0e8 100644
--- a/spindle_control.c
+++ b/spindle_control.c
@@ -56,6 +56,14 @@ static spindle_sys_t sys_spindle[N_SYS_SPINDLE] = {0};
 static spindle_reg_t spindles[N_SPINDLE] = {0}, *pwm_spindle = NULL;
 static const spindle_data_ptrs_t *encoder;
 
+static void spindle_init (void *data)
+{
+    spindle_reg_t *spindle = (spindle_reg_t *)data;
+
+    if((spindle->init_ok = spindle->hal.config == NULL || spindle->hal.config(&spindle->hal)))
+        spindle->hal.set_state(&spindle->hal, (spindle_state_t){0}, 0.0f);
+}
+
 /*! \internal \brief Activates and registers a spindle as enabled with a specific spindle number.
 \param spindle_id spindle id of spindle to activate as a \ref spindle_id_t.
 \param spindle_num spindle number to set as enabled as a \ref spindle_num_t.
@@ -74,8 +82,7 @@ static bool spindle_activate (spindle_id_t spindle_id, spindle_num_t spindle_num
             pwm_spindle->hal.rpm_max = settings.pwm_spindle.rpm_max;
         }
 
-        if((pwm_spindle->init_ok = pwm_spindle->hal.config == NULL || pwm_spindle->hal.config(&pwm_spindle->hal)))
-            pwm_spindle->hal.set_state(&pwm_spindle->hal, (spindle_state_t){0}, 0.0f);
+        spindle_init(pwm_spindle);
     }
     pwm_spindle = NULL;
 
@@ -144,9 +151,12 @@ spindle_id_t spindle_register (const spindle_ptrs_t *spindle, const char *name)
         memcpy(&spindles[n_spindle].hal, spindles[n_spindle].cfg, sizeof(spindle_ptrs_t));
         spindles[n_spindle].hal.id = n_spindle;
 
-        if(spindle->type == SpindleType_PWM && pwm_spindle == NULL) {
-            pwm_spindle = &spindles[n_spindle];
-            hal.driver_cap.pwm_spindle = On;
+        if(spindle->type == SpindleType_PWM) {
+            if(pwm_spindle == NULL) {
+                pwm_spindle = &spindles[n_spindle];
+                hal.driver_cap.pwm_spindle = On;
+            } else
+                task_run_on_startup(spindle_init, &spindles[n_spindle]);
         }
 
         if(n_spindle == 0)
@@ -1051,8 +1061,8 @@ static const setting_detail_t spindle1_settings[] = {
     { Setting_SpindleInvertMask1, Group_Spindle, "PWM2 spindle signals invert", NULL, Format_Bitfield, spindle_signals, NULL, NULL, Setting_IsExtendedFn, set_spindle_invert, get_int, NULL, { .reboot_required = On } },
     { Setting_Spindle_PWMPort, Group_AuxPorts, "PWM2 spindle PWM port", NULL, Format_Decimal, "-#0", "0", max_aport, Setting_NonCoreFn, set_port, get_port, has_ports, { .reboot_required = On } },
     { Setting_SpindlePWMOptions1, Group_Spindle, "PWM2 spindle options", NULL, Format_XBitfield, "Enable,RPM controls spindle enable signal,Disable laser mode capability", NULL, NULL, Setting_IsExtendedFn, set_pwm_options, get_int, has_pwm },
-    { Setting_RpmMax1, Group_Spindle, "PWM2 spindle min speed", "RPM", Format_Decimal, "#####0.000", NULL, NULL, Setting_IsLegacy, &sp1_settings.cfg.rpm_max, NULL, has_pwm },
-    { Setting_RpmMin1, Group_Spindle, "PWM2 spindle max speed", "RPM", Format_Decimal, "#####0.000", NULL, NULL, Setting_IsLegacy, &sp1_settings.cfg.rpm_min, NULL, has_pwm },
+    { Setting_RpmMin1, Group_Spindle, "PWM2 spindle min speed", "RPM", Format_Decimal, "#####0.000", NULL, NULL, Setting_IsLegacy, &sp1_settings.cfg.rpm_max, NULL, has_pwm },
+    { Setting_RpmMax1, Group_Spindle, "PWM2 spindle max speed", "RPM", Format_Decimal, "#####0.000", NULL, NULL, Setting_IsLegacy, &sp1_settings.cfg.rpm_min, NULL, has_pwm },
     { Setting_PWMFreq1, Group_Spindle, "PWM2 spindle PWM frequency", "Hz", Format_Decimal, "#####0", NULL, NULL, Setting_IsExtended, &sp1_settings.cfg.pwm_freq, NULL, has_freq },
     { Setting_PWMOffValue1, Group_Spindle, "PWM2 spindle PWM off value", "percent", Format_Decimal, "##0.0", NULL, "100", Setting_IsExtended, &sp1_settings.cfg.pwm_off_value, NULL, has_pwm },
     { Setting_PWMMinValue1, Group_Spindle, "PWM2 spindle PWM min value", "percent", Format_Decimal, "##0.0", NULL, "100", Setting_IsExtended, &sp1_settings.cfg.pwm_min_value, NULL, has_pwm },