The Miami Heat on Thursday made the signing of Precious Achiuwa official, in the process making their first roster cut of the offseason.

Already having been at the NBA offseason maximum of 21 players under contract, the Heat waived recently signed guard Gabe Madsen.

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In bringing back their 2020 first-round pick, the Heat with Achiuwa bolster a power rotation that otherwise would have been limited to primary options Bam Adebayo, Kel’el Ware and Nikola Jovic.

The Achiuwa move provides coach Erik Spoelstra greater flexibility not only with his power rotation, but also his overall rotation.

With Achiuwa, it allows for the possibility of more time on the perimeter for Jovic, which is his preferred role, and also reduces potential need to play small forward Andrew Wiggins in the power rotation.

In addition, it means less of a need to rush undrafted former Florida Atlantic University 7-footer Vlad Goldin into the power rotation. On a two-way contract, Goldin now is freed up to potentially spend more time with the Heat’s G League affiliate, the Sioux Falls Skyforce.

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The Heat had been linked to Madsen since July, after he went undrafted last June out of Utah. The 3-point specialist was signed on Sept. 11 to an Exhibit 10 contract that afforded bonus money if he were to then spend at least 60 days with the Heat’s G League affiliate.

Madsen, who played for the Golden State Warrior’s summer-league team in July, is now expected to eventually move on to the Skyforce if he is not picked up by another NBA team.

Madsen concluded his four-season collegiate career at Utah as the school’s all-time leader in 3-pointers, becoming the first player in program history to record at least 100 made 3-pointers in consecutive seasons. Last season, he started in all 33 games he appeared in with the Utes and averaged a team-high 15.2 points, 2.6 rebounds, 2.5 assists in 29.6 minutes per game.

Like most of the Heat camp roster, Madsen had been working out in recent days in pre-camp workouts at Kaseya Center.

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As for Achiuwa, he appeared in 57 games (10 starts) with the New York Knicks last season, averaging 6.6 points, 5.6 rebounds and 1.0 assists in 20.5 minutes per game, shooting .502 from the field. He scored in double-figures 15 times, including a season-high 26 points against Atlanta on February 12. Additionally, he has appeared in the postseason in four of his five NBA seasons, with Miami, Toronto and New York.

A NBA source confirmed to the Sun Sentinel that Achiuwa was signed to a non-guaranteed contract at the NBA veteran minimum, meaning there would be no cap or tax hit if he is waived prior to the start of the season. The Heat declined to address contract terms in Thursday’s announcement of the signing.

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Achiuwa will wear No. 8 in his Heat return, after wearing No. 5 as a rookie during his lone Heat season in 2020-21.

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Teams are allowed to carry a maximum of 21 players until the start of the regular season, which for the Heat is Oct. 22 at Kia Center against the Orlando Magic. During the regular season, teams can carry a maximum of 15 players under standard contract and three on two-way contracts.

The addition of Achiuwa puts the Heat at the NBA maximum on the standard roster.

In the wake of Thursday’s move, the reconfigured Heat training-camp roster stands as:

Standard contract (15) — Adebayo, Ware, Jovic, Achiuwa, Wiggins, Tyler Herro, Norman Powell, Davion Mitchell, Pelle Larsson, Jaime Jaquez Jr., Simone Fontecchio, Keshad Johnson, Terry Rozier, Dru Smith and first-round pick Kasparas Jakucionis.

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Two-way contract (2) — Goldin, Myron Gardner.

Exhibit 10 camp tryout contract (4) — Jahmir Young, Trevor Keels, Dain Dainja, Ethan Thompson.

The Heat will hold their annual media Monday at Kaseya Center, with training camp opening Tuesday in Boca Raton at Florida Atlantic University. They open their six-game preseason schedule Oct. 4 in Puerto Rico against the Magic.