The f20 is just so it will move slowly also when in the diagnostic screen you cannot use the keyboard to move any table motor. Make sure the reset is not flashing and enter “G28.1 Z0.02 f20” This will move the Z down slowly until it contacts the top of the metal when you hit the enter key. In mach go to the diagnostics screen and down near the bottom there is a line where you may enter code one line at a time called “Direct G-code Input”. If I read your statement correctly it is not touching the metal in the first part of the routine to set the pierce height is that correct if not try this. Tom’s description of the touch off function is how it should work maybe you needed to just do one step at a time. This is done automatically by the post processor used and that is why you need to use one from CandCNC when using their electronics. The touch off routine is generated by sheetcam when you enter in the correct numbers for it to use.
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