diff --git a/grbl/config.h b/grbl/config.h
index 6c2abecbd..46a0b1d9a 100644
--- a/grbl/config.h
+++ b/grbl/config.h
@@ -210,6 +210,10 @@
   //#define INVERT_MAX_LIMIT_PIN_MASK ((1<<X_AXIS) | (1<<Y_AXIS) | (1<<Z_AXIS))  
 #endif
 
+// Enable spindle control using servo signal. Timer generate 50 Hz PWM signal, positive pulse width 1ms
+// for stopped spindle and 2 ms for full speed of servo. It's suitable for ESC using.
+// #define ENABLE_ESC_SPINDLE // Default disabled. Uncomment to enable.
+
 // Inverts the spindle enable pin from low-disabled/high-enabled to low-enabled/high-disabled. Useful
 // for some pre-built electronic boards.
 // #define INVERT_SPINDLE_ENABLE_PIN // Default disabled. Uncomment to enable.
diff --git a/grbl/cpu_map.h b/grbl/cpu_map.h
index 6cef4d9c3..b114749f3 100644
--- a/grbl/cpu_map.h
+++ b/grbl/cpu_map.h
@@ -108,11 +108,21 @@
 
   // Advanced Configuration Below You should not need to touch these variables
   // Set Timer up to use TIMER4B which is attached to Digital Pin 7
-  #define SPINDLE_PWM_MAX_VALUE     1024.0 // Translates to about 1.9 kHz PWM frequency at 1/8 prescaler
+  #ifdef ENABLE_ESC_SPINDLE
+    #define SPINDLE_PWM_MIN_VALUE     2000 // 1 ms
+    #define SPINDLE_PWM_MAX_VALUE     4000 // 2 ms
+  #else
+    #define SPINDLE_PWM_MAX_VALUE     1024.0 // Translates to about 1.9 kHz PWM frequency at 1/8 prescaler
+  #endif
   #ifndef SPINDLE_PWM_MIN_VALUE
     #define SPINDLE_PWM_MIN_VALUE   1   // Must be greater than zero.
   #endif
-  #define SPINDLE_PWM_OFF_VALUE     0
+
+  #ifdef ENABLE_ESC_SPINDLE
+    #define SPINDLE_PWM_OFF_VALUE     2000
+  #else
+    #define SPINDLE_PWM_OFF_VALUE     0
+  #endif
   #define SPINDLE_PWM_RANGE         (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
   #define SPINDLE_TCCRA_REGISTER		TCCR4A
   #define SPINDLE_TCCRB_REGISTER		TCCR4B
@@ -123,7 +133,11 @@
   #define SPINDLE_TCCRA_INIT_MASK ((1<<WGM40) | (1<<WGM41))
   #define SPINDLE_TCCRB_INIT_MASK ((1<<WGM42) | (1<<WGM43) | (1<<CS41)) 
   #define SPINDLE_OCRA_REGISTER   OCR4A // 16-bit Fast PWM mode requires top reset value stored here.
-  #define SPINDLE_OCRA_TOP_VALUE  0x0400 // PWM counter reset value. Should be the same as PWM_MAX_VALUE in hex.
+  #ifdef ENABLE_ESC_SPINDLE
+    #define SPINDLE_OCRA_TOP_VALUE  0x9C40 // PWM counter reset value for ESC. Should be the same as PWM_MAX_VALUE in hex.
+  #else
+    #define SPINDLE_OCRA_TOP_VALUE  0x0400 // PWM counter reset value. Should be the same as PWM_MAX_VALUE in hex.
+  #endif
 
   // Define spindle output pins.
   #define SPINDLE_PWM_DDR		DDRH
diff --git a/grbl/spindle_control.c b/grbl/spindle_control.c
index 8982dfa2e..9c46e02cb 100644
--- a/grbl/spindle_control.c
+++ b/grbl/spindle_control.c
@@ -59,7 +59,12 @@ uint8_t spindle_get_state()
 // Called by spindle_init(), spindle_set_speed(), spindle_set_state(), and mc_reset().
 void spindle_stop()
 {
-  SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero.
+  #ifdef ENABLE_ESC_SPINDLE
+    SPINDLE_OCR_REGISTER = SPINDLE_PWM_OFF_VALUE; // Set off value of PWM.
+    SPINDLE_TCCRA_REGISTER |= (1 << SPINDLE_COMB_BIT); // Ensure PWM output is enabled.
+  #else
+    SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero.
+  #endif
   #ifdef INVERT_SPINDLE_ENABLE_PIN
     SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);  // Set pin to high
   #else
@@ -84,6 +89,8 @@ void spindle_set_speed(uint16_t pwm_value)
         SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
       #endif
     }
+  #elif defined(ENABLE_ESC_SPINDLE)
+    SPINDLE_TCCRA_REGISTER |= (1 << SPINDLE_COMB_BIT); // Ensure PWM output is enabled.
   #else
     if (pwm_value == SPINDLE_PWM_OFF_VALUE) {
       SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero.