I've updated the documentation about this. The new text is:
Program G96 D- S- to select constant surface speed of S feet per
minute (if G20 is in effect) or meters per minute (if G21 is in
effect). The maximum spindle speed is set by the D- number in
revolutions per minute. When using G96, ensure that X0 in the
current coordinate system (including offsets and tool lengths) is
the center of rotation or emc will not give the desired spindle
speed. G96 is not affected by radius or diameter mode.
http://linuxcnc.org/docs/2.4/html/gcode_main.html#sec:G96,-G97:-Spindle
Jeff
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