Initialization involves the subsystem going through all necessary hardware, firmware, and software startup processes in order to become safely and accurately useable. Initialization may include performing a self test, and the verification and/or validation of hardware, and calibration data. Depending on the system, an initialization process may not require having been calibrated. Initialization is the equivalent of a homing routine followed by a Check-out routine. A sequence of motion to establish and verify an axis coordinate system at the beginning of operation. Initialization is required after a boot up (power loss) of the axis’ controller.