Shake and Wake

During Shake and Wake initialization, the controller outputs a specified voltage for a specified duration to drive the system to the zero-degree phase position and establish it. During this process, the motor moves with very high torque. Make sure the system is away from any limits when performing Shake and Wake initialization.

If your system has a heavy load or if the motor is moving against gravity, increase the Shake and Wake voltage. If there is heavy jitter as an axis approaches zero, increase the time period.

Caution  Phase initialization is performed when the axes are enabled. If you use Shake and Wake, the system can move during the initialization process.