### INITMODE

sets the type of initialization for the ENCSTART encoder initialization process.

0 – soft exponential ramp (motor will rotate CW and CCW several times, fault will occur if unsuccessful)
1 – hard step (motor will jerk into position, fault will occur if unsuccessful)
2 - Soft Wake no shake algorithm, see IENCSTART, INITGAIN, INITTIME.
3 - Wake no shake algorithm depends on XVAR3 parameter, see XVAR2 and XVAR3.
Firmware Versions: 3.4.0
Type: variable (R/W) Range: 0-3
Units: n/a Default: 0
Opmodes: all Drive Status: en/dis EEPROM: yes

WARNING
When using either option (0, 1), it is advised to disconnect the load from the motor shaft. Option 0 will
rotate load in both directions and may be undesirable for the application. Option 1 will suddenly jerk the
motor into position and could cause damage to the load or surrounding environment.
In the initialization process, the drive rotates the motor to a known electrical position by placing IENCSTART current from the motor B terminal to the motor C terminal. If the encoder index is encountered (for type 1 and 2 encoders), the process terminates immediately.

The ENCSTART process is initiated by doing the following:

1 . With the drive disabled, type the command "ENCSTART".
2 . Enable the drive. The current will be placed on the motor terminals and the initialization process will be completed after the drive enable occurs.