Commutation reference angle offset value for a serial absolute encoder.  When an axis is configured to use a serial absolute encoder, the motor's commutation angle is derived from the encoder's single-turn data. However, since the amplifier's 0 electrical angle (or the motor's pole position) will, in most cases, not be aligned with the encoder's 0 count, this value is provided to correct for the offset.

Normally this value is setup once during factory bring-up. To define this value, operate the motor using the twang-ref or PAF method.  At the conclusion of these methods, the system will automatically compute the required commutation angle offset value.  You then just need to store the value of this parameter in the flash memory.

Set this value to "-1' initially to indicate that the offset has not yet been determined.