M145                  (# Set watching for GANTRY Sensors)
G91 G0 Y-1000 F500    (# Move toward Gantry Sensors)

( There is message delivery time from PLC to CNC control software)
( Need to wait some time till registers #800-802 will be updated )
( Add 0.5 seconds pause to get all the registers refreshed )

G4 P0.5               (# Pause)

G10 L81 P809 Q800     (Get offset in pulses)
G10 L193 P809 Q5531   (Calculate offset in units/mm)

G10 L81 P810 Q809     (Copy Offset in units/mm to #810)
G10 L190 P810 Q805    (Add tuning offset)

M211 P0               (# OFF the second motor, the Only first motor is ON )

G10 L190 P810 Q5022   (# Add current machine position)
G28.9 Y810            (# Move 1 motor to adjust)

M211 P1               (# ON the second motor, both motors are moved together)