The $20 parameter will enable or disable Soft limits, (Set to 0 or 1) You can however use UGS to send configuration command to Grbl, for example sending $$ will cause Grbl to respond with it’s configuration settings. If you home your machine and have enabled soft limits in Grbl, Then Grbl can prevent any gocode command from moving the spindle outside of the physical limits you set, or you can install limits switches and enable hard limits in Grbl to accomplish the same thing (basically if the spindle hits a limit switch Grbl stop all motion) However Grbl (which is the code running on your Arduino controller) does know what you have told it about your machine and what the gcode is directing it to do. UGS knows nothing about the machine or the part you are making, it is simply sending the gcode to the controller.
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