1. A programmer for an electrode array configured for receiving stimulation pulses from an implantable pulse generator, the programmer configured for: selecting a new stimulation parameter set with a new combination of electrodes or electrode polarity; selecting an initial stimulation level for the new stimulation parameter set, wherein the initial stimulation level is selected to be a non-zero value not to exceed an estimated perception threshold of a patient for the new stimulation parameter set; generating initial stimulation commands based on the new stimulation parameter set and the selected initial stimulation level; generating new stimulation commands based on the new stimulation parameter set and an increased stimulation level; and providing the initial stimulation commands and the new stimulation commands to the pulse generator.