I did it without difficulties for my MF Zeiss 50mm Macro Planar (which has an electronic interface).
But obviously it doesn't work with for instance fully "electronic-free" lenses (Leica R).
Edit: did it also for the Zeiss 21mm f2,8, EF mount.
PS: manual lenses of course don't autofocus after "AFMAing" them, but the green focus-ok LED in the viewfinder shows you if the lens is properly focused.
If you prefer, in this case, call it "FMA"
Makes sense to me with the focus-ok LED.