diff --git a/Documentation/development/tool-framework.md b/Documentation/development/tool-framework.md
index 7aae89401d..6211debb08 100644
--- a/Documentation/development/tool-framework.md
+++ b/Documentation/development/tool-framework.md
@@ -446,18 +446,6 @@ The last step is to register the tool in the tool manager.
 This is done by adding a new instance of the tool to the
 `registerAllTools()` function in `pcbnew/tools/tools_common.cpp`.
 
-Note - because the `RegisterTool()` function calls the tool's `Init()`
-function, any _tools_ that your tools refers to in the init function
-must already be registered so that your tool can access it via the
-tool manager. Equally, if your tool is referenced by another in its
-`Init()` function, your tool must be registered. In general, "top
-level" tools go first, and other tools add items to their menus later.
-If you register _actions_, that's OK, by the time the menu is invoked,
-the tools will all be ready and bound to actions.
-
-In our case, it doesn't matter as our menu is not touched by anyone
-else, we only add an _action_.
-
     // add your tool header
     #include <tools/useless_tool.h>
 
diff --git a/common/tool/tool_manager.cpp b/common/tool/tool_manager.cpp
index 899cf214df..78221e7c4f 100644
--- a/common/tool/tool_manager.cpp
+++ b/common/tool/tool_manager.cpp
@@ -233,23 +233,6 @@ void TOOL_MANAGER::RegisterTool( TOOL_BASE* aTool )
     m_toolTypes[typeid( *aTool ).name()] = st->theTool;
 
     aTool->attachManager( this );
-
-    if( !aTool->Init() )
-    {
-        std::string msg = StrPrintf( "Initialization of the %s tool failed",
-                                     aTool->GetName().c_str() );
-
-        DisplayError( NULL, wxString::FromUTF8( msg.c_str() ) );
-
-        // Unregister the tool
-        m_toolState.erase( aTool );
-        m_toolNameIndex.erase( aTool->GetName() );
-        m_toolIdIndex.erase( aTool->GetId() );
-        m_toolTypes.erase( typeid( *aTool ).name() );
-
-        delete st;
-        delete aTool;
-    }
 }
 
 
@@ -424,12 +407,14 @@ TOOL_BASE* TOOL_MANAGER::FindTool( const std::string& aName ) const
     return NULL;
 }
 
+
 void TOOL_MANAGER::DeactivateTool()
 {
     TOOL_EVENT evt( TC_COMMAND, TA_ACTIVATE, "" );      // deactivate the active tool
     ProcessEvent( evt );
 }
 
+
 void TOOL_MANAGER::ResetTools( TOOL_BASE::RESET_REASON aReason )
 {
     DeactivateTool();
@@ -442,6 +427,34 @@ void TOOL_MANAGER::ResetTools( TOOL_BASE::RESET_REASON aReason )
 }
 
 
+void TOOL_MANAGER::InitTools()
+{
+    for( auto it = m_toolState.begin(); it != m_toolState.end(); /* iteration in the loop */ )
+    {
+        TOOL_BASE* tool = it->first;
+        TOOL_STATE* state = it->second;
+        ++it;   // keep the iterator valid if the element is going to be erased
+
+        if( !tool->Init() )
+        {
+            DisplayError( nullptr,
+                    wxString::Format( "Initialization of tool '%s' failed", tool->GetName() ) );
+
+            // Unregister the tool
+            m_toolState.erase( tool );
+            m_toolNameIndex.erase( tool->GetName() );
+            m_toolIdIndex.erase( tool->GetId() );
+            m_toolTypes.erase( typeid( *tool ).name() );
+
+            delete state;
+            delete tool;
+        }
+    }
+
+    ResetTools( TOOL_BASE::RUN );
+}
+
+
 int TOOL_MANAGER::GetPriority( int aToolId ) const
 {
     int priority = 0;
diff --git a/include/tool/tool_manager.h b/include/tool/tool_manager.h
index e56542e63d..b8add965f0 100644
--- a/include/tool/tool_manager.h
+++ b/include/tool/tool_manager.h
@@ -198,6 +198,14 @@ public:
      */
     void ResetTools( TOOL_BASE::RESET_REASON aReason );
 
+    /**
+     * Function InitTools()
+     * Initializes all registered tools. If a tool fails during the initialization, it is
+     * deactivated and becomes unavailable for further use. Initialization should be done
+     * only once.
+     */
+    void InitTools();
+
     /**
      * Propagates an event to tools that requested events of matching type(s).
      * @param aEvent is the event to be processed.
diff --git a/pcbnew/pcbframe.cpp b/pcbnew/pcbframe.cpp
index 3402bbf91b..8e5d33217d 100644
--- a/pcbnew/pcbframe.cpp
+++ b/pcbnew/pcbframe.cpp
@@ -568,8 +568,7 @@ void PCB_EDIT_FRAME::setupTools()
 
     // Register tools
     registerAllTools( m_toolManager );
-
-    m_toolManager->ResetTools( TOOL_BASE::RUN );
+    m_toolManager->InitTools();
 
     // Run the selection tool, it is supposed to be always active
     m_toolManager->InvokeTool( "pcbnew.InteractiveSelection" );
diff --git a/pcbnew/tools/tools_common.cpp b/pcbnew/tools/tools_common.cpp
index fd727ff932..0e08778854 100644
--- a/pcbnew/tools/tools_common.cpp
+++ b/pcbnew/tools/tools_common.cpp
@@ -42,7 +42,7 @@
 #include <router/router_tool.h>
 #include <router/length_tuner_tool.h>
 
-void registerAllTools( TOOL_MANAGER *aToolManager )
+void registerAllTools( TOOL_MANAGER* aToolManager )
 {
     aToolManager->RegisterTool( new SELECTION_TOOL );
     aToolManager->RegisterTool( new ZOOM_TOOL );
@@ -56,5 +56,4 @@ void registerAllTools( TOOL_MANAGER *aToolManager )
     aToolManager->RegisterTool( new PCBNEW_CONTROL );
     aToolManager->RegisterTool( new PCB_EDITOR_CONTROL );
     aToolManager->RegisterTool( new PLACEMENT_TOOL );
-
 }