0x2308 - Non-incremental alignment

Index	Sub Index	Name	Data Type	Acc.	Pdo Map.	NVM	Value range	Default value	Units
0x2308	0x01	Offset from phase A	UINT16	RW	No	Yes	UINT16	-	2π rad / 65535

Non-incremental feedbacks (i.e. absolute encoders or resolver) provide an absolute angular position of the motor. However, the origin of reference of these feedbacks could be situated in any position of the motor.

When using "Non-incremental sensor used" alignment method, this object helps to determine the offset between the feedback and the phase A of the stator.

To adjust this value, some steps have to be followed:

Set the commutation sensor with the same feedback than reference sensor.
Select Forced alignment method as Initial angle determination method
Entering in operation enable state (recommended to use the open loop vector mode of operation with a target voltage of 0)
Wait for the phasing process.
Stop the movement and store all the parameters into the NVM.

After this process, the offset between the actuator phases and the reference angle is automatically written in this register.

Select Non incremental sensor used as Initial angle determination method
Select the commutation sensor as the desired commutation sensor for the final application