Hello Marlon,
The “ Transient initialization, solving for consistent states and modes, failed to converge ” error is usually caused by the solver being unable to resolve the system of equations represented in Simscape.
You could try smoothing the dynamics of the model, simplifying the equations, and adjusting the solver settings. For example, you can set the solver to ode23t and give reasonable values for min and max step size.
You can also try incrementally building the model from scratch, in order to identify the parts of the model that are leading to the error.
Here are a few more links that could help:
