axis jumps on servo amp initialization

hi!

I have a problem. when I start the machine for the first time and the servo drives need initialization (don't use hal sensors, the motor rotates until synchronization with motor poles), after the drive goes to state "enabled" the corresponding axis do a violent "jump". my theory is that linuxcnc counts the pulses from the encoder during initialization and when the drive is enabled it corrects the position.

so, how can I solve this?


Thanks,

João

granite vsd-e drives with 3phase ac servos (no hal sensors).

anyway, the problem was solved with a custom component that makes E-Stop permanent while initialization.

João