ensure_mode(linuxcnc.MODE_MDI)
            s.poll()
            clear_command = "G10 L2 P2 R0"
            for i, a in enumerate("XYZABCUVW"):
                if s.axis_mask & (1<<i): clear_command += " %c0" % a
            c.mdi(clear_command)
            c.wait_complete()
            ensure_mode(linuxcnc.MODE_MANUAL)