Initialisation of Dynamixel motors in Multi-turn mode(kinetic)

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Hello All,

We are using Dynamixel XM-430-R350 motors for our robot. I am able to run the motor in multi-turn mode by setting value of register 11 to 4. I need the range of motor to be from 0 to 11430 (digital values in terms of 4095 per 360deg).

Currently I am defining these minimum and maximum values in the yaml file used for the motors. But when the motors are powered up, they read the encoder and set the current position from 0 to 4095. So I have to manually move the motors to the lowest rotation (i.e. in range of 0 to 4095).

Is there any way, by which the motor initialisation is possible, without the need of this manual movement.

I am not very sure, how much I was able to convey my problem. Please ask for more clarification.