if !move.axes[0].homed || !move.axes[1].homed || !move.axes[2].homed || !move.axes[3].homed
  G28


if move.axes[2].machinePosition < 20
  G91
  G1 F18000 Z{20}-move.axes[2].machinePosition
  G90

T0 P0
G1 X-55 U55 Y-170 F18000