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diff --git a/Marlin/src/gcode/motion/G4.cpp b/Marlin/src/gcode/motion/G4.cpp
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+++ b/Marlin/src/gcode/motion/G4.cpp
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../gcode.h"
+#include "../../module/stepper.h"
+#include "../../lcd/marlinui.h"
+
+/**
+ * G4: Dwell S<seconds> or P<milliseconds>
+ */
+void GcodeSuite::G4() {
+  millis_t dwell_ms = 0;
+
+  if (parser.seenval('P')) dwell_ms = parser.value_millis(); // milliseconds to wait
+  if (parser.seenval('S')) dwell_ms = parser.value_millis_from_seconds(); // seconds to wait
+
+  planner.synchronize();
+  #if ENABLED(NANODLP_Z_SYNC)
+    SERIAL_ECHOLNPGM(STR_Z_MOVE_COMP);
+  #endif
+
+  if (!ui.has_status()) LCD_MESSAGEPGM(MSG_DWELL);
+
+  dwell(dwell_ms);
+}