Normally plastic oozes from the nozzle during warm up due to thermal expansion and gravity. It is then necessary to prime the extruder by running it for a few seconds to fill up the now empty barrel. Any oozed or extruded plastic then needs to be removed, typically with tweezers, before the build can start.
This procedure is inconvenient because it means you have to stay with the machine during the warm up sequence rather than simply starting a build and letting it get on with it. I discovered a simple solution which I now use on my Mendel and Mendel90.
I remove any filament hanging from the nozzle while it is cold and then start the machine and leave it. My software moves the nozzle to the front edge of the bed and parks it 0.05mm above the surface. It then warms up the extruder and the bed. As soon as the plastic starts to ooze from the nozzle it meets the relatively cold bed and sets. That seals the nozzle and prevents and more ooze. I leave the small gap to ensure the bed does not take heat away from the nozzle.
When the bed and extruder reach their operating temperatures the software waits for two minutes to allow the nozzle to expand to its full length, otherwise I find the first layer height is inconsistent. The extruder is then run for a couple of seconds to prime it before doing a rapid move 50mm along the edge of the bed to wipe it. It then lifts to 1mm and moves to the start of the build. I always start that with a blob and an outline.
Here is a video of the sequence on my Mendel90:
So now I can start my machines and leave them to do their own thing. I use Python scripts but it should be easy to do the same thing in G code. The technique works with PLA as well as ABS shown above.